{
  "parameters": [
    {
      "category": "Standard",
      "default": 75,
      "group": "UAVCAN Motor Parameters",
      "longDesc": "Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.",
      "max": 250,
      "min": 10,
      "name": "ctl_bw",
      "shortDesc": "Speed controller bandwidth",
      "type": "Int32",
      "units": "Hz"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "UAVCAN Motor Parameters",
      "longDesc": "Motor spin direction as detected during initial enumeration. Use 0 or 1 to reverse direction.",
      "max": 1,
      "min": 0,
      "name": "ctl_dir",
      "shortDesc": "Reverse direction",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "UAVCAN Motor Parameters",
      "longDesc": "Speed (RPM) controller gain. Determines controller\n            aggressiveness; units are amp-seconds per radian. Systems with\n            higher rotational inertia (large props) will need gain increased;\n            systems with low rotational inertia (small props) may need gain\n            decreased. Higher values result in faster response, but may result\n            in oscillation and excessive overshoot. Lower values result in a\n            slower, smoother response.",
      "max": 1.0,
      "min": 0.0,
      "name": "ctl_gain",
      "shortDesc": "Speed (RPM) controller gain",
      "type": "Float",
      "units": "C/rad"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 3.5,
      "group": "UAVCAN Motor Parameters",
      "longDesc": "Idle speed (e Hz)",
      "max": 100.0,
      "min": 0.0,
      "name": "ctl_hz_idle",
      "shortDesc": "Idle speed (e Hz)",
      "type": "Float",
      "units": "Hz"
    },
    {
      "category": "Standard",
      "default": 25,
      "group": "UAVCAN Motor Parameters",
      "longDesc": "Spin-up rate (e Hz/s)",
      "max": 1000,
      "min": 5,
      "name": "ctl_start_rate",
      "shortDesc": "Spin-up rate (e Hz/s)",
      "type": "Int32",
      "units": "1/s^2"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "UAVCAN Motor Parameters",
      "longDesc": "Index of this ESC in throttle command messages.",
      "max": 15,
      "min": 0,
      "name": "esc_index",
      "shortDesc": "Index of this ESC in throttle command messages.",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 20034,
      "group": "UAVCAN Motor Parameters",
      "longDesc": "Extended status ID",
      "max": 1000000,
      "min": 1,
      "name": "id_ext_status",
      "shortDesc": "Extended status ID",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 50000,
      "group": "UAVCAN Motor Parameters",
      "longDesc": "Extended status interval (\u00b5s)",
      "max": 1000000,
      "min": 0,
      "name": "int_ext_status",
      "shortDesc": "Extended status interval (\u00b5s)",
      "type": "Int32",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 50000,
      "group": "UAVCAN Motor Parameters",
      "longDesc": "ESC status interval (\u00b5s)",
      "max": 1000000,
      "name": "int_status",
      "shortDesc": "ESC status interval (\u00b5s)",
      "type": "Int32",
      "units": "us"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 12.0,
      "group": "UAVCAN Motor Parameters",
      "longDesc": "Motor current limit in amps. This determines the maximum\n            current controller setpoint, as well as the maximum allowable\n            current setpoint slew rate. This value should generally be set to\n            the continuous current rating listed in the motor\u2019s specification\n            sheet, or set equal to the motor\u2019s specified continuous power\n            divided by the motor voltage limit.",
      "max": 80.0,
      "min": 1.0,
      "name": "mot_i_max",
      "shortDesc": "Motor current limit in amps",
      "type": "Float",
      "units": "A"
    },
    {
      "category": "Standard",
      "default": 2300,
      "group": "UAVCAN Motor Parameters",
      "longDesc": "Motor Kv in RPM per volt. This can be taken from the motor\u2019s\n            specification sheet; accuracy will help control performance but\n            some deviation from the specified value is acceptable.",
      "max": 4000,
      "min": 0,
      "name": "mot_kv",
      "shortDesc": "Motor Kv in RPM per volt",
      "type": "Int32",
      "units": "rpm/V"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "UAVCAN Motor Parameters",
      "longDesc": "READ ONLY: Motor inductance in henries. This is measured on start-up.",
      "name": "mot_ls",
      "shortDesc": "READ ONLY: Motor inductance in henries.",
      "type": "Float",
      "units": "H"
    },
    {
      "category": "Standard",
      "default": 14,
      "group": "UAVCAN Motor Parameters",
      "longDesc": "Number of motor poles. Used to convert mechanical speeds to\n            electrical speeds. This number should be taken from the motor\u2019s\n            specification sheet.",
      "max": 40,
      "min": 2,
      "name": "mot_num_poles",
      "shortDesc": "Number of motor poles.",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "UAVCAN Motor Parameters",
      "longDesc": "READ ONLY: Motor resistance in ohms. This is measured on start-up. When\n            tuning a new motor, check that this value is approximately equal\n            to the value shown in the motor\u2019s specification sheet.",
      "name": "mot_rs",
      "shortDesc": "READ ONLY: Motor resistance in ohms",
      "type": "Float",
      "units": "Ohm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.5,
      "group": "UAVCAN Motor Parameters",
      "longDesc": "Acceleration limit (V)",
      "max": 1.0,
      "min": 0.01,
      "name": "mot_v_accel",
      "shortDesc": "Acceleration limit (V)",
      "type": "Float",
      "units": "V"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 14.8,
      "group": "UAVCAN Motor Parameters",
      "longDesc": "Motor voltage limit in volts. The current controller\u2019s\n            commanded voltage will never exceed this value. Note that this may\n            safely be above the nominal voltage of the motor; to determine the\n            actual motor voltage limit, divide the motor\u2019s rated power by the\n            motor current limit.",
      "min": 0.0,
      "name": "mot_v_max",
      "shortDesc": "Motor voltage limit in volts",
      "type": "Float",
      "units": "V"
    },
    {
      "category": "Standard",
      "default": 2,
      "group": "UAVCAN GNSS",
      "longDesc": "Dynamic model used in the GNSS positioning engine. 0 \u2013\n        Automotive, 1 \u2013 Sea, 2 \u2013 Airborne.\n      ",
      "max": 2,
      "min": 0,
      "name": "gnss.dyn_model",
      "shortDesc": "GNSS dynamic model",
      "type": "Int32",
      "values": [
        {
          "description": "Automotive",
          "value": 0
        },
        {
          "description": "Sea",
          "value": 1
        },
        {
          "description": "Airborne",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "UAVCAN GNSS",
      "longDesc": "Broadcast the old (deprecated) GNSS fix message\n        uavcan.equipment.gnss.Fix alongside the new alternative\n        uavcan.equipment.gnss.Fix2. It is recommended to\n        disable this feature to reduce the CAN bus traffic.\n      ",
      "max": 1,
      "min": 0,
      "name": "gnss.old_fix_msg",
      "shortDesc": "Broadcast old GNSS fix message",
      "type": "Int32",
      "values": [
        {
          "description": "Fix2",
          "value": 0
        },
        {
          "description": "Fix and Fix2",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "UAVCAN GNSS",
      "longDesc": "Set the device health to Warning if the dimensionality of\n              the GNSS solution is less than this value. 3 for the full (3D)\n              solution, 2 for planar (2D) solution, 1 for time-only solution,\n              0 disables the feature.\n      ",
      "max": 3,
      "min": 0,
      "name": "gnss.warn_dimens",
      "shortDesc": "device health warning",
      "type": "Int32",
      "values": [
        {
          "description": "disables the feature",
          "value": 0
        },
        {
          "description": "time-only solution",
          "value": 1
        },
        {
          "description": "planar (2D) solution",
          "value": 2
        },
        {
          "description": "full (3D) solution",
          "value": 3
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "UAVCAN GNSS",
      "longDesc": "Set the device health to Warning if the number of satellites\n        used in the GNSS solution is below this threshold. Zero\n        disables the feature\n      ",
      "name": "gnss.warn_sats",
      "shortDesc": "",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "UAVCAN GNSS",
      "longDesc": "Set the device health to Warning if the number of satellites\n        used in the GNSS solution is below this threshold. Zero\n        disables the feature\n      ",
      "max": 1000000,
      "min": 0,
      "name": "uavcan.pubp-pres",
      "shortDesc": "",
      "type": "Int32",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "ADSB",
      "longDesc": "Sets first 4 characters of a total of 8. Valid characters are A-Z, 0-9, \" \". Example \"PX4 \" -> 1347957792 For CALLSIGN shorter than 8 characters use the null terminator at the end '\\0'.",
      "name": "ADSB_CALLSIGN_1",
      "rebootRequired": true,
      "shortDesc": "First 4 characters of CALLSIGN",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "ADSB",
      "longDesc": "Sets second 4 characters of a total of 8. Valid characters are A-Z, 0-9, \" \" only. Example \"TEST\" -> 1413829460 For CALLSIGN shorter than 8 characters use the null terminator at the end '\\0'.",
      "name": "ADSB_CALLSIGN_2",
      "rebootRequired": true,
      "shortDesc": "Second 4 characters of CALLSIGN",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "ADSB",
      "longDesc": "Sets the vehicle emergency state",
      "max": 6,
      "min": 0,
      "name": "ADSB_EMERGC",
      "rebootRequired": true,
      "shortDesc": "ADSB-Out Emergency State",
      "type": "Int32",
      "values": [
        {
          "description": "NoEmergency",
          "value": 0
        },
        {
          "description": "General",
          "value": 1
        },
        {
          "description": "Medical",
          "value": 2
        },
        {
          "description": "LowFuel",
          "value": 3
        },
        {
          "description": "NoCommunications",
          "value": 4
        },
        {
          "description": "Interference",
          "value": 5
        },
        {
          "description": "Downed",
          "value": 6
        }
      ]
    },
    {
      "category": "Standard",
      "default": 14,
      "group": "ADSB",
      "longDesc": "Configure the emitter type of the vehicle.",
      "max": 15,
      "min": 0,
      "name": "ADSB_EMIT_TYPE",
      "rebootRequired": true,
      "shortDesc": "ADSB-Out Vehicle Emitter Type",
      "type": "Int32",
      "values": [
        {
          "description": "Unknown",
          "value": 0
        },
        {
          "description": "Light",
          "value": 1
        },
        {
          "description": "Small",
          "value": 2
        },
        {
          "description": "Large",
          "value": 3
        },
        {
          "description": "HighVortex",
          "value": 4
        },
        {
          "description": "Heavy",
          "value": 5
        },
        {
          "description": "Performance",
          "value": 6
        },
        {
          "description": "Rotorcraft",
          "value": 7
        },
        {
          "description": "RESERVED",
          "value": 8
        },
        {
          "description": "Glider",
          "value": 9
        },
        {
          "description": "LightAir",
          "value": 10
        },
        {
          "description": "Parachute",
          "value": 11
        },
        {
          "description": "UltraLight",
          "value": 12
        },
        {
          "description": "RESERVED",
          "value": 13
        },
        {
          "description": "UAV",
          "value": 14
        },
        {
          "description": "Space",
          "value": 15
        },
        {
          "description": "RESERVED",
          "value": 16
        },
        {
          "description": "EmergencySurf",
          "value": 17
        },
        {
          "description": "ServiceSurf",
          "value": 18
        },
        {
          "description": "PointObstacle",
          "value": 19
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "ADSB",
      "longDesc": "Sets GPS lataral offset encoding",
      "max": 7,
      "min": 0,
      "name": "ADSB_GPS_OFF_LAT",
      "rebootRequired": true,
      "shortDesc": "ADSB-Out GPS Offset lat",
      "type": "Int32",
      "values": [
        {
          "description": "NoData",
          "value": 0
        },
        {
          "description": "LatLeft2M",
          "value": 1
        },
        {
          "description": "LatLeft4M",
          "value": 2
        },
        {
          "description": "LatLeft6M",
          "value": 3
        },
        {
          "description": "LatRight0M",
          "value": 4
        },
        {
          "description": "LatRight2M",
          "value": 5
        },
        {
          "description": "LatRight4M",
          "value": 6
        },
        {
          "description": "LatRight6M",
          "value": 7
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "ADSB",
      "longDesc": "Sets GPS longitudinal offset encoding",
      "max": 1,
      "min": 0,
      "name": "ADSB_GPS_OFF_LON",
      "rebootRequired": true,
      "shortDesc": "ADSB-Out GPS Offset lon",
      "type": "Int32",
      "values": [
        {
          "description": "NoData",
          "value": 0
        },
        {
          "description": "AppliedBySensor",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1194684,
      "group": "ADSB",
      "longDesc": "Defines the ICAO ID of the vehicle",
      "max": 16777215,
      "min": -1,
      "name": "ADSB_ICAO_ID",
      "rebootRequired": true,
      "shortDesc": "ADSB-Out ICAO configuration",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "ADSB",
      "longDesc": "This vehicle is always tracked. Use 0 to disable.",
      "max": 16777215,
      "min": 0,
      "name": "ADSB_ICAO_SPECL",
      "rebootRequired": true,
      "shortDesc": "ADSB-In Special ICAO configuration",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "ADSB",
      "longDesc": "Enable Identification of Position feature",
      "name": "ADSB_IDENT",
      "rebootRequired": true,
      "shortDesc": "ADSB-Out Ident Configuration",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "ADSB",
      "longDesc": "Report the length and width of the vehicle in meters. In most cases, use '1' for the smallest vehicle size.",
      "max": 15,
      "min": 0,
      "name": "ADSB_LEN_WIDTH",
      "rebootRequired": true,
      "shortDesc": "ADSB-Out Vehicle Size Configuration",
      "type": "Int32",
      "values": [
        {
          "description": "SizeUnknown",
          "value": 0
        },
        {
          "description": "Len15_Wid23",
          "value": 1
        },
        {
          "description": "Len25_Wid28",
          "value": 2
        },
        {
          "description": "Len25_Wid34",
          "value": 3
        },
        {
          "description": "Len35_Wid33",
          "value": 4
        },
        {
          "description": "Len35_Wid38",
          "value": 5
        },
        {
          "description": "Len45_Wid39",
          "value": 6
        },
        {
          "description": "Len45_Wid45",
          "value": 7
        },
        {
          "description": "Len55_Wid45",
          "value": 8
        },
        {
          "description": "Len55_Wid52",
          "value": 9
        },
        {
          "description": "Len65_Wid59",
          "value": 10
        },
        {
          "description": "Len65_Wid67",
          "value": 11
        },
        {
          "description": "Len75_Wid72",
          "value": 12
        },
        {
          "description": "Len75_Wid80",
          "value": 13
        },
        {
          "description": "Len85_Wid80",
          "value": 14
        },
        {
          "description": "Len85_Wid90",
          "value": 15
        }
      ]
    },
    {
      "category": "Standard",
      "default": 25,
      "group": "ADSB",
      "longDesc": "Change number of targets to track",
      "max": 50,
      "min": 0,
      "name": "ADSB_LIST_MAX",
      "rebootRequired": true,
      "shortDesc": "ADSB-In Vehicle List Size",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "ADSB",
      "longDesc": "Informs ADSB vehicles of this vehicle's max speed capability",
      "max": 6,
      "min": 0,
      "name": "ADSB_MAX_SPEED",
      "rebootRequired": true,
      "shortDesc": "ADSB-Out Vehicle Max Speed",
      "type": "Int32",
      "values": [
        {
          "description": "UnknownMaxSpeed",
          "value": 0
        },
        {
          "description": "75Kts",
          "value": 1
        },
        {
          "description": "150Kts",
          "value": 2
        },
        {
          "description": "300Kts",
          "value": 3
        },
        {
          "description": "600Kts",
          "value": 4
        },
        {
          "description": "1200Kts",
          "value": 5
        },
        {
          "description": "Over1200Kts",
          "value": 6
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1200,
      "group": "ADSB",
      "longDesc": "This parameter defines the squawk code. Value should be between 0000 and 7777.",
      "max": 7777,
      "min": 0,
      "name": "ADSB_SQUAWK",
      "rebootRequired": true,
      "shortDesc": "ADSB-Out squawk code configuration",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Actuator Outputs",
      "longDesc": "Select what should be output on SIM Channel 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest",
      "name": "PWM_MAIN_FUNC1",
      "shortDesc": "SIM Channel 1 Output Function",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Constant Min",
          "value": 1
        },
        {
          "description": "Constant Max",
          "value": 2
        },
        {
          "description": "Motor 1",
          "value": 101
        },
        {
          "description": "Motor 2",
          "value": 102
        },
        {
          "description": "Motor 3",
          "value": 103
        },
        {
          "description": "Motor 4",
          "value": 104
        },
        {
          "description": "Motor 5",
          "value": 105
        },
        {
          "description": "Motor 6",
          "value": 106
        },
        {
          "description": "Motor 7",
          "value": 107
        },
        {
          "description": "Motor 8",
          "value": 108
        },
        {
          "description": "Motor 9",
          "value": 109
        },
        {
          "description": "Motor 10",
          "value": 110
        },
        {
          "description": "Motor 11",
          "value": 111
        },
        {
          "description": "Motor 12",
          "value": 112
        },
        {
          "description": "Servo 1",
          "value": 201
        },
        {
          "description": "Servo 2",
          "value": 202
        },
        {
          "description": "Servo 3",
          "value": 203
        },
        {
          "description": "Servo 4",
          "value": 204
        },
        {
          "description": "Servo 5",
          "value": 205
        },
        {
          "description": "Servo 6",
          "value": 206
        },
        {
          "description": "Servo 7",
          "value": 207
        },
        {
          "description": "Servo 8",
          "value": 208
        },
        {
          "description": "Offboard Actuator Set 1",
          "value": 301
        },
        {
          "description": "Offboard Actuator Set 2",
          "value": 302
        },
        {
          "description": "Offboard Actuator Set 3",
          "value": 303
        },
        {
          "description": "Offboard Actuator Set 4",
          "value": 304
        },
        {
          "description": "Offboard Actuator Set 5",
          "value": 305
        },
        {
          "description": "Offboard Actuator Set 6",
          "value": 306
        },
        {
          "description": "Landing Gear",
          "value": 400
        },
        {
          "description": "Parachute",
          "value": 401
        },
        {
          "description": "RC Roll",
          "value": 402
        },
        {
          "description": "RC Pitch",
          "value": 403
        },
        {
          "description": "RC Throttle",
          "value": 404
        },
        {
          "description": "RC Yaw",
          "value": 405
        },
        {
          "description": "RC Flaps",
          "value": 406
        },
        {
          "description": "RC AUX 1",
          "value": 407
        },
        {
          "description": "RC AUX 2",
          "value": 408
        },
        {
          "description": "RC AUX 3",
          "value": 409
        },
        {
          "description": "RC AUX 4",
          "value": 410
        },
        {
          "description": "RC AUX 5",
          "value": 411
        },
        {
          "description": "RC AUX 6",
          "value": 412
        },
        {
          "description": "Gimbal Roll",
          "value": 420
        },
        {
          "description": "Gimbal Pitch",
          "value": 421
        },
        {
          "description": "Gimbal Yaw",
          "value": 422
        },
        {
          "description": "Gripper",
          "value": 430
        },
        {
          "description": "Landing Gear Wheel",
          "value": 440
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Actuator Outputs",
      "longDesc": "Select what should be output on SIM Channel 10. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest",
      "name": "PWM_MAIN_FUNC10",
      "shortDesc": "SIM Channel 10 Output Function",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Constant Min",
          "value": 1
        },
        {
          "description": "Constant Max",
          "value": 2
        },
        {
          "description": "Motor 1",
          "value": 101
        },
        {
          "description": "Motor 2",
          "value": 102
        },
        {
          "description": "Motor 3",
          "value": 103
        },
        {
          "description": "Motor 4",
          "value": 104
        },
        {
          "description": "Motor 5",
          "value": 105
        },
        {
          "description": "Motor 6",
          "value": 106
        },
        {
          "description": "Motor 7",
          "value": 107
        },
        {
          "description": "Motor 8",
          "value": 108
        },
        {
          "description": "Motor 9",
          "value": 109
        },
        {
          "description": "Motor 10",
          "value": 110
        },
        {
          "description": "Motor 11",
          "value": 111
        },
        {
          "description": "Motor 12",
          "value": 112
        },
        {
          "description": "Servo 1",
          "value": 201
        },
        {
          "description": "Servo 2",
          "value": 202
        },
        {
          "description": "Servo 3",
          "value": 203
        },
        {
          "description": "Servo 4",
          "value": 204
        },
        {
          "description": "Servo 5",
          "value": 205
        },
        {
          "description": "Servo 6",
          "value": 206
        },
        {
          "description": "Servo 7",
          "value": 207
        },
        {
          "description": "Servo 8",
          "value": 208
        },
        {
          "description": "Offboard Actuator Set 1",
          "value": 301
        },
        {
          "description": "Offboard Actuator Set 2",
          "value": 302
        },
        {
          "description": "Offboard Actuator Set 3",
          "value": 303
        },
        {
          "description": "Offboard Actuator Set 4",
          "value": 304
        },
        {
          "description": "Offboard Actuator Set 5",
          "value": 305
        },
        {
          "description": "Offboard Actuator Set 6",
          "value": 306
        },
        {
          "description": "Landing Gear",
          "value": 400
        },
        {
          "description": "Parachute",
          "value": 401
        },
        {
          "description": "RC Roll",
          "value": 402
        },
        {
          "description": "RC Pitch",
          "value": 403
        },
        {
          "description": "RC Throttle",
          "value": 404
        },
        {
          "description": "RC Yaw",
          "value": 405
        },
        {
          "description": "RC Flaps",
          "value": 406
        },
        {
          "description": "RC AUX 1",
          "value": 407
        },
        {
          "description": "RC AUX 2",
          "value": 408
        },
        {
          "description": "RC AUX 3",
          "value": 409
        },
        {
          "description": "RC AUX 4",
          "value": 410
        },
        {
          "description": "RC AUX 5",
          "value": 411
        },
        {
          "description": "RC AUX 6",
          "value": 412
        },
        {
          "description": "Gimbal Roll",
          "value": 420
        },
        {
          "description": "Gimbal Pitch",
          "value": 421
        },
        {
          "description": "Gimbal Yaw",
          "value": 422
        },
        {
          "description": "Gripper",
          "value": 430
        },
        {
          "description": "Landing Gear Wheel",
          "value": 440
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Actuator Outputs",
      "longDesc": "Select what should be output on SIM Channel 11. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest",
      "name": "PWM_MAIN_FUNC11",
      "shortDesc": "SIM Channel 11 Output Function",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Constant Min",
          "value": 1
        },
        {
          "description": "Constant Max",
          "value": 2
        },
        {
          "description": "Motor 1",
          "value": 101
        },
        {
          "description": "Motor 2",
          "value": 102
        },
        {
          "description": "Motor 3",
          "value": 103
        },
        {
          "description": "Motor 4",
          "value": 104
        },
        {
          "description": "Motor 5",
          "value": 105
        },
        {
          "description": "Motor 6",
          "value": 106
        },
        {
          "description": "Motor 7",
          "value": 107
        },
        {
          "description": "Motor 8",
          "value": 108
        },
        {
          "description": "Motor 9",
          "value": 109
        },
        {
          "description": "Motor 10",
          "value": 110
        },
        {
          "description": "Motor 11",
          "value": 111
        },
        {
          "description": "Motor 12",
          "value": 112
        },
        {
          "description": "Servo 1",
          "value": 201
        },
        {
          "description": "Servo 2",
          "value": 202
        },
        {
          "description": "Servo 3",
          "value": 203
        },
        {
          "description": "Servo 4",
          "value": 204
        },
        {
          "description": "Servo 5",
          "value": 205
        },
        {
          "description": "Servo 6",
          "value": 206
        },
        {
          "description": "Servo 7",
          "value": 207
        },
        {
          "description": "Servo 8",
          "value": 208
        },
        {
          "description": "Offboard Actuator Set 1",
          "value": 301
        },
        {
          "description": "Offboard Actuator Set 2",
          "value": 302
        },
        {
          "description": "Offboard Actuator Set 3",
          "value": 303
        },
        {
          "description": "Offboard Actuator Set 4",
          "value": 304
        },
        {
          "description": "Offboard Actuator Set 5",
          "value": 305
        },
        {
          "description": "Offboard Actuator Set 6",
          "value": 306
        },
        {
          "description": "Landing Gear",
          "value": 400
        },
        {
          "description": "Parachute",
          "value": 401
        },
        {
          "description": "RC Roll",
          "value": 402
        },
        {
          "description": "RC Pitch",
          "value": 403
        },
        {
          "description": "RC Throttle",
          "value": 404
        },
        {
          "description": "RC Yaw",
          "value": 405
        },
        {
          "description": "RC Flaps",
          "value": 406
        },
        {
          "description": "RC AUX 1",
          "value": 407
        },
        {
          "description": "RC AUX 2",
          "value": 408
        },
        {
          "description": "RC AUX 3",
          "value": 409
        },
        {
          "description": "RC AUX 4",
          "value": 410
        },
        {
          "description": "RC AUX 5",
          "value": 411
        },
        {
          "description": "RC AUX 6",
          "value": 412
        },
        {
          "description": "Gimbal Roll",
          "value": 420
        },
        {
          "description": "Gimbal Pitch",
          "value": 421
        },
        {
          "description": "Gimbal Yaw",
          "value": 422
        },
        {
          "description": "Gripper",
          "value": 430
        },
        {
          "description": "Landing Gear Wheel",
          "value": 440
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Actuator Outputs",
      "longDesc": "Select what should be output on SIM Channel 12. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest",
      "name": "PWM_MAIN_FUNC12",
      "shortDesc": "SIM Channel 12 Output Function",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Constant Min",
          "value": 1
        },
        {
          "description": "Constant Max",
          "value": 2
        },
        {
          "description": "Motor 1",
          "value": 101
        },
        {
          "description": "Motor 2",
          "value": 102
        },
        {
          "description": "Motor 3",
          "value": 103
        },
        {
          "description": "Motor 4",
          "value": 104
        },
        {
          "description": "Motor 5",
          "value": 105
        },
        {
          "description": "Motor 6",
          "value": 106
        },
        {
          "description": "Motor 7",
          "value": 107
        },
        {
          "description": "Motor 8",
          "value": 108
        },
        {
          "description": "Motor 9",
          "value": 109
        },
        {
          "description": "Motor 10",
          "value": 110
        },
        {
          "description": "Motor 11",
          "value": 111
        },
        {
          "description": "Motor 12",
          "value": 112
        },
        {
          "description": "Servo 1",
          "value": 201
        },
        {
          "description": "Servo 2",
          "value": 202
        },
        {
          "description": "Servo 3",
          "value": 203
        },
        {
          "description": "Servo 4",
          "value": 204
        },
        {
          "description": "Servo 5",
          "value": 205
        },
        {
          "description": "Servo 6",
          "value": 206
        },
        {
          "description": "Servo 7",
          "value": 207
        },
        {
          "description": "Servo 8",
          "value": 208
        },
        {
          "description": "Offboard Actuator Set 1",
          "value": 301
        },
        {
          "description": "Offboard Actuator Set 2",
          "value": 302
        },
        {
          "description": "Offboard Actuator Set 3",
          "value": 303
        },
        {
          "description": "Offboard Actuator Set 4",
          "value": 304
        },
        {
          "description": "Offboard Actuator Set 5",
          "value": 305
        },
        {
          "description": "Offboard Actuator Set 6",
          "value": 306
        },
        {
          "description": "Landing Gear",
          "value": 400
        },
        {
          "description": "Parachute",
          "value": 401
        },
        {
          "description": "RC Roll",
          "value": 402
        },
        {
          "description": "RC Pitch",
          "value": 403
        },
        {
          "description": "RC Throttle",
          "value": 404
        },
        {
          "description": "RC Yaw",
          "value": 405
        },
        {
          "description": "RC Flaps",
          "value": 406
        },
        {
          "description": "RC AUX 1",
          "value": 407
        },
        {
          "description": "RC AUX 2",
          "value": 408
        },
        {
          "description": "RC AUX 3",
          "value": 409
        },
        {
          "description": "RC AUX 4",
          "value": 410
        },
        {
          "description": "RC AUX 5",
          "value": 411
        },
        {
          "description": "RC AUX 6",
          "value": 412
        },
        {
          "description": "Gimbal Roll",
          "value": 420
        },
        {
          "description": "Gimbal Pitch",
          "value": 421
        },
        {
          "description": "Gimbal Yaw",
          "value": 422
        },
        {
          "description": "Gripper",
          "value": 430
        },
        {
          "description": "Landing Gear Wheel",
          "value": 440
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Actuator Outputs",
      "longDesc": "Select what should be output on SIM Channel 13. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest",
      "name": "PWM_MAIN_FUNC13",
      "shortDesc": "SIM Channel 13 Output Function",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Constant Min",
          "value": 1
        },
        {
          "description": "Constant Max",
          "value": 2
        },
        {
          "description": "Motor 1",
          "value": 101
        },
        {
          "description": "Motor 2",
          "value": 102
        },
        {
          "description": "Motor 3",
          "value": 103
        },
        {
          "description": "Motor 4",
          "value": 104
        },
        {
          "description": "Motor 5",
          "value": 105
        },
        {
          "description": "Motor 6",
          "value": 106
        },
        {
          "description": "Motor 7",
          "value": 107
        },
        {
          "description": "Motor 8",
          "value": 108
        },
        {
          "description": "Motor 9",
          "value": 109
        },
        {
          "description": "Motor 10",
          "value": 110
        },
        {
          "description": "Motor 11",
          "value": 111
        },
        {
          "description": "Motor 12",
          "value": 112
        },
        {
          "description": "Servo 1",
          "value": 201
        },
        {
          "description": "Servo 2",
          "value": 202
        },
        {
          "description": "Servo 3",
          "value": 203
        },
        {
          "description": "Servo 4",
          "value": 204
        },
        {
          "description": "Servo 5",
          "value": 205
        },
        {
          "description": "Servo 6",
          "value": 206
        },
        {
          "description": "Servo 7",
          "value": 207
        },
        {
          "description": "Servo 8",
          "value": 208
        },
        {
          "description": "Offboard Actuator Set 1",
          "value": 301
        },
        {
          "description": "Offboard Actuator Set 2",
          "value": 302
        },
        {
          "description": "Offboard Actuator Set 3",
          "value": 303
        },
        {
          "description": "Offboard Actuator Set 4",
          "value": 304
        },
        {
          "description": "Offboard Actuator Set 5",
          "value": 305
        },
        {
          "description": "Offboard Actuator Set 6",
          "value": 306
        },
        {
          "description": "Landing Gear",
          "value": 400
        },
        {
          "description": "Parachute",
          "value": 401
        },
        {
          "description": "RC Roll",
          "value": 402
        },
        {
          "description": "RC Pitch",
          "value": 403
        },
        {
          "description": "RC Throttle",
          "value": 404
        },
        {
          "description": "RC Yaw",
          "value": 405
        },
        {
          "description": "RC Flaps",
          "value": 406
        },
        {
          "description": "RC AUX 1",
          "value": 407
        },
        {
          "description": "RC AUX 2",
          "value": 408
        },
        {
          "description": "RC AUX 3",
          "value": 409
        },
        {
          "description": "RC AUX 4",
          "value": 410
        },
        {
          "description": "RC AUX 5",
          "value": 411
        },
        {
          "description": "RC AUX 6",
          "value": 412
        },
        {
          "description": "Gimbal Roll",
          "value": 420
        },
        {
          "description": "Gimbal Pitch",
          "value": 421
        },
        {
          "description": "Gimbal Yaw",
          "value": 422
        },
        {
          "description": "Gripper",
          "value": 430
        },
        {
          "description": "Landing Gear Wheel",
          "value": 440
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Actuator Outputs",
      "longDesc": "Select what should be output on SIM Channel 14. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest",
      "name": "PWM_MAIN_FUNC14",
      "shortDesc": "SIM Channel 14 Output Function",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Constant Min",
          "value": 1
        },
        {
          "description": "Constant Max",
          "value": 2
        },
        {
          "description": "Motor 1",
          "value": 101
        },
        {
          "description": "Motor 2",
          "value": 102
        },
        {
          "description": "Motor 3",
          "value": 103
        },
        {
          "description": "Motor 4",
          "value": 104
        },
        {
          "description": "Motor 5",
          "value": 105
        },
        {
          "description": "Motor 6",
          "value": 106
        },
        {
          "description": "Motor 7",
          "value": 107
        },
        {
          "description": "Motor 8",
          "value": 108
        },
        {
          "description": "Motor 9",
          "value": 109
        },
        {
          "description": "Motor 10",
          "value": 110
        },
        {
          "description": "Motor 11",
          "value": 111
        },
        {
          "description": "Motor 12",
          "value": 112
        },
        {
          "description": "Servo 1",
          "value": 201
        },
        {
          "description": "Servo 2",
          "value": 202
        },
        {
          "description": "Servo 3",
          "value": 203
        },
        {
          "description": "Servo 4",
          "value": 204
        },
        {
          "description": "Servo 5",
          "value": 205
        },
        {
          "description": "Servo 6",
          "value": 206
        },
        {
          "description": "Servo 7",
          "value": 207
        },
        {
          "description": "Servo 8",
          "value": 208
        },
        {
          "description": "Offboard Actuator Set 1",
          "value": 301
        },
        {
          "description": "Offboard Actuator Set 2",
          "value": 302
        },
        {
          "description": "Offboard Actuator Set 3",
          "value": 303
        },
        {
          "description": "Offboard Actuator Set 4",
          "value": 304
        },
        {
          "description": "Offboard Actuator Set 5",
          "value": 305
        },
        {
          "description": "Offboard Actuator Set 6",
          "value": 306
        },
        {
          "description": "Landing Gear",
          "value": 400
        },
        {
          "description": "Parachute",
          "value": 401
        },
        {
          "description": "RC Roll",
          "value": 402
        },
        {
          "description": "RC Pitch",
          "value": 403
        },
        {
          "description": "RC Throttle",
          "value": 404
        },
        {
          "description": "RC Yaw",
          "value": 405
        },
        {
          "description": "RC Flaps",
          "value": 406
        },
        {
          "description": "RC AUX 1",
          "value": 407
        },
        {
          "description": "RC AUX 2",
          "value": 408
        },
        {
          "description": "RC AUX 3",
          "value": 409
        },
        {
          "description": "RC AUX 4",
          "value": 410
        },
        {
          "description": "RC AUX 5",
          "value": 411
        },
        {
          "description": "RC AUX 6",
          "value": 412
        },
        {
          "description": "Gimbal Roll",
          "value": 420
        },
        {
          "description": "Gimbal Pitch",
          "value": 421
        },
        {
          "description": "Gimbal Yaw",
          "value": 422
        },
        {
          "description": "Gripper",
          "value": 430
        },
        {
          "description": "Landing Gear Wheel",
          "value": 440
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Actuator Outputs",
      "longDesc": "Select what should be output on SIM Channel 15. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest",
      "name": "PWM_MAIN_FUNC15",
      "shortDesc": "SIM Channel 15 Output Function",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Constant Min",
          "value": 1
        },
        {
          "description": "Constant Max",
          "value": 2
        },
        {
          "description": "Motor 1",
          "value": 101
        },
        {
          "description": "Motor 2",
          "value": 102
        },
        {
          "description": "Motor 3",
          "value": 103
        },
        {
          "description": "Motor 4",
          "value": 104
        },
        {
          "description": "Motor 5",
          "value": 105
        },
        {
          "description": "Motor 6",
          "value": 106
        },
        {
          "description": "Motor 7",
          "value": 107
        },
        {
          "description": "Motor 8",
          "value": 108
        },
        {
          "description": "Motor 9",
          "value": 109
        },
        {
          "description": "Motor 10",
          "value": 110
        },
        {
          "description": "Motor 11",
          "value": 111
        },
        {
          "description": "Motor 12",
          "value": 112
        },
        {
          "description": "Servo 1",
          "value": 201
        },
        {
          "description": "Servo 2",
          "value": 202
        },
        {
          "description": "Servo 3",
          "value": 203
        },
        {
          "description": "Servo 4",
          "value": 204
        },
        {
          "description": "Servo 5",
          "value": 205
        },
        {
          "description": "Servo 6",
          "value": 206
        },
        {
          "description": "Servo 7",
          "value": 207
        },
        {
          "description": "Servo 8",
          "value": 208
        },
        {
          "description": "Offboard Actuator Set 1",
          "value": 301
        },
        {
          "description": "Offboard Actuator Set 2",
          "value": 302
        },
        {
          "description": "Offboard Actuator Set 3",
          "value": 303
        },
        {
          "description": "Offboard Actuator Set 4",
          "value": 304
        },
        {
          "description": "Offboard Actuator Set 5",
          "value": 305
        },
        {
          "description": "Offboard Actuator Set 6",
          "value": 306
        },
        {
          "description": "Landing Gear",
          "value": 400
        },
        {
          "description": "Parachute",
          "value": 401
        },
        {
          "description": "RC Roll",
          "value": 402
        },
        {
          "description": "RC Pitch",
          "value": 403
        },
        {
          "description": "RC Throttle",
          "value": 404
        },
        {
          "description": "RC Yaw",
          "value": 405
        },
        {
          "description": "RC Flaps",
          "value": 406
        },
        {
          "description": "RC AUX 1",
          "value": 407
        },
        {
          "description": "RC AUX 2",
          "value": 408
        },
        {
          "description": "RC AUX 3",
          "value": 409
        },
        {
          "description": "RC AUX 4",
          "value": 410
        },
        {
          "description": "RC AUX 5",
          "value": 411
        },
        {
          "description": "RC AUX 6",
          "value": 412
        },
        {
          "description": "Gimbal Roll",
          "value": 420
        },
        {
          "description": "Gimbal Pitch",
          "value": 421
        },
        {
          "description": "Gimbal Yaw",
          "value": 422
        },
        {
          "description": "Gripper",
          "value": 430
        },
        {
          "description": "Landing Gear Wheel",
          "value": 440
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Actuator Outputs",
      "longDesc": "Select what should be output on SIM Channel 16. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest",
      "name": "PWM_MAIN_FUNC16",
      "shortDesc": "SIM Channel 16 Output Function",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Constant Min",
          "value": 1
        },
        {
          "description": "Constant Max",
          "value": 2
        },
        {
          "description": "Motor 1",
          "value": 101
        },
        {
          "description": "Motor 2",
          "value": 102
        },
        {
          "description": "Motor 3",
          "value": 103
        },
        {
          "description": "Motor 4",
          "value": 104
        },
        {
          "description": "Motor 5",
          "value": 105
        },
        {
          "description": "Motor 6",
          "value": 106
        },
        {
          "description": "Motor 7",
          "value": 107
        },
        {
          "description": "Motor 8",
          "value": 108
        },
        {
          "description": "Motor 9",
          "value": 109
        },
        {
          "description": "Motor 10",
          "value": 110
        },
        {
          "description": "Motor 11",
          "value": 111
        },
        {
          "description": "Motor 12",
          "value": 112
        },
        {
          "description": "Servo 1",
          "value": 201
        },
        {
          "description": "Servo 2",
          "value": 202
        },
        {
          "description": "Servo 3",
          "value": 203
        },
        {
          "description": "Servo 4",
          "value": 204
        },
        {
          "description": "Servo 5",
          "value": 205
        },
        {
          "description": "Servo 6",
          "value": 206
        },
        {
          "description": "Servo 7",
          "value": 207
        },
        {
          "description": "Servo 8",
          "value": 208
        },
        {
          "description": "Offboard Actuator Set 1",
          "value": 301
        },
        {
          "description": "Offboard Actuator Set 2",
          "value": 302
        },
        {
          "description": "Offboard Actuator Set 3",
          "value": 303
        },
        {
          "description": "Offboard Actuator Set 4",
          "value": 304
        },
        {
          "description": "Offboard Actuator Set 5",
          "value": 305
        },
        {
          "description": "Offboard Actuator Set 6",
          "value": 306
        },
        {
          "description": "Landing Gear",
          "value": 400
        },
        {
          "description": "Parachute",
          "value": 401
        },
        {
          "description": "RC Roll",
          "value": 402
        },
        {
          "description": "RC Pitch",
          "value": 403
        },
        {
          "description": "RC Throttle",
          "value": 404
        },
        {
          "description": "RC Yaw",
          "value": 405
        },
        {
          "description": "RC Flaps",
          "value": 406
        },
        {
          "description": "RC AUX 1",
          "value": 407
        },
        {
          "description": "RC AUX 2",
          "value": 408
        },
        {
          "description": "RC AUX 3",
          "value": 409
        },
        {
          "description": "RC AUX 4",
          "value": 410
        },
        {
          "description": "RC AUX 5",
          "value": 411
        },
        {
          "description": "RC AUX 6",
          "value": 412
        },
        {
          "description": "Gimbal Roll",
          "value": 420
        },
        {
          "description": "Gimbal Pitch",
          "value": 421
        },
        {
          "description": "Gimbal Yaw",
          "value": 422
        },
        {
          "description": "Gripper",
          "value": 430
        },
        {
          "description": "Landing Gear Wheel",
          "value": 440
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Actuator Outputs",
      "longDesc": "Select what should be output on SIM Channel 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest",
      "name": "PWM_MAIN_FUNC2",
      "shortDesc": "SIM Channel 2 Output Function",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Constant Min",
          "value": 1
        },
        {
          "description": "Constant Max",
          "value": 2
        },
        {
          "description": "Motor 1",
          "value": 101
        },
        {
          "description": "Motor 2",
          "value": 102
        },
        {
          "description": "Motor 3",
          "value": 103
        },
        {
          "description": "Motor 4",
          "value": 104
        },
        {
          "description": "Motor 5",
          "value": 105
        },
        {
          "description": "Motor 6",
          "value": 106
        },
        {
          "description": "Motor 7",
          "value": 107
        },
        {
          "description": "Motor 8",
          "value": 108
        },
        {
          "description": "Motor 9",
          "value": 109
        },
        {
          "description": "Motor 10",
          "value": 110
        },
        {
          "description": "Motor 11",
          "value": 111
        },
        {
          "description": "Motor 12",
          "value": 112
        },
        {
          "description": "Servo 1",
          "value": 201
        },
        {
          "description": "Servo 2",
          "value": 202
        },
        {
          "description": "Servo 3",
          "value": 203
        },
        {
          "description": "Servo 4",
          "value": 204
        },
        {
          "description": "Servo 5",
          "value": 205
        },
        {
          "description": "Servo 6",
          "value": 206
        },
        {
          "description": "Servo 7",
          "value": 207
        },
        {
          "description": "Servo 8",
          "value": 208
        },
        {
          "description": "Offboard Actuator Set 1",
          "value": 301
        },
        {
          "description": "Offboard Actuator Set 2",
          "value": 302
        },
        {
          "description": "Offboard Actuator Set 3",
          "value": 303
        },
        {
          "description": "Offboard Actuator Set 4",
          "value": 304
        },
        {
          "description": "Offboard Actuator Set 5",
          "value": 305
        },
        {
          "description": "Offboard Actuator Set 6",
          "value": 306
        },
        {
          "description": "Landing Gear",
          "value": 400
        },
        {
          "description": "Parachute",
          "value": 401
        },
        {
          "description": "RC Roll",
          "value": 402
        },
        {
          "description": "RC Pitch",
          "value": 403
        },
        {
          "description": "RC Throttle",
          "value": 404
        },
        {
          "description": "RC Yaw",
          "value": 405
        },
        {
          "description": "RC Flaps",
          "value": 406
        },
        {
          "description": "RC AUX 1",
          "value": 407
        },
        {
          "description": "RC AUX 2",
          "value": 408
        },
        {
          "description": "RC AUX 3",
          "value": 409
        },
        {
          "description": "RC AUX 4",
          "value": 410
        },
        {
          "description": "RC AUX 5",
          "value": 411
        },
        {
          "description": "RC AUX 6",
          "value": 412
        },
        {
          "description": "Gimbal Roll",
          "value": 420
        },
        {
          "description": "Gimbal Pitch",
          "value": 421
        },
        {
          "description": "Gimbal Yaw",
          "value": 422
        },
        {
          "description": "Gripper",
          "value": 430
        },
        {
          "description": "Landing Gear Wheel",
          "value": 440
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Actuator Outputs",
      "longDesc": "Select what should be output on SIM Channel 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest",
      "name": "PWM_MAIN_FUNC3",
      "shortDesc": "SIM Channel 3 Output Function",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Constant Min",
          "value": 1
        },
        {
          "description": "Constant Max",
          "value": 2
        },
        {
          "description": "Motor 1",
          "value": 101
        },
        {
          "description": "Motor 2",
          "value": 102
        },
        {
          "description": "Motor 3",
          "value": 103
        },
        {
          "description": "Motor 4",
          "value": 104
        },
        {
          "description": "Motor 5",
          "value": 105
        },
        {
          "description": "Motor 6",
          "value": 106
        },
        {
          "description": "Motor 7",
          "value": 107
        },
        {
          "description": "Motor 8",
          "value": 108
        },
        {
          "description": "Motor 9",
          "value": 109
        },
        {
          "description": "Motor 10",
          "value": 110
        },
        {
          "description": "Motor 11",
          "value": 111
        },
        {
          "description": "Motor 12",
          "value": 112
        },
        {
          "description": "Servo 1",
          "value": 201
        },
        {
          "description": "Servo 2",
          "value": 202
        },
        {
          "description": "Servo 3",
          "value": 203
        },
        {
          "description": "Servo 4",
          "value": 204
        },
        {
          "description": "Servo 5",
          "value": 205
        },
        {
          "description": "Servo 6",
          "value": 206
        },
        {
          "description": "Servo 7",
          "value": 207
        },
        {
          "description": "Servo 8",
          "value": 208
        },
        {
          "description": "Offboard Actuator Set 1",
          "value": 301
        },
        {
          "description": "Offboard Actuator Set 2",
          "value": 302
        },
        {
          "description": "Offboard Actuator Set 3",
          "value": 303
        },
        {
          "description": "Offboard Actuator Set 4",
          "value": 304
        },
        {
          "description": "Offboard Actuator Set 5",
          "value": 305
        },
        {
          "description": "Offboard Actuator Set 6",
          "value": 306
        },
        {
          "description": "Landing Gear",
          "value": 400
        },
        {
          "description": "Parachute",
          "value": 401
        },
        {
          "description": "RC Roll",
          "value": 402
        },
        {
          "description": "RC Pitch",
          "value": 403
        },
        {
          "description": "RC Throttle",
          "value": 404
        },
        {
          "description": "RC Yaw",
          "value": 405
        },
        {
          "description": "RC Flaps",
          "value": 406
        },
        {
          "description": "RC AUX 1",
          "value": 407
        },
        {
          "description": "RC AUX 2",
          "value": 408
        },
        {
          "description": "RC AUX 3",
          "value": 409
        },
        {
          "description": "RC AUX 4",
          "value": 410
        },
        {
          "description": "RC AUX 5",
          "value": 411
        },
        {
          "description": "RC AUX 6",
          "value": 412
        },
        {
          "description": "Gimbal Roll",
          "value": 420
        },
        {
          "description": "Gimbal Pitch",
          "value": 421
        },
        {
          "description": "Gimbal Yaw",
          "value": 422
        },
        {
          "description": "Gripper",
          "value": 430
        },
        {
          "description": "Landing Gear Wheel",
          "value": 440
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Actuator Outputs",
      "longDesc": "Select what should be output on SIM Channel 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest",
      "name": "PWM_MAIN_FUNC4",
      "shortDesc": "SIM Channel 4 Output Function",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Constant Min",
          "value": 1
        },
        {
          "description": "Constant Max",
          "value": 2
        },
        {
          "description": "Motor 1",
          "value": 101
        },
        {
          "description": "Motor 2",
          "value": 102
        },
        {
          "description": "Motor 3",
          "value": 103
        },
        {
          "description": "Motor 4",
          "value": 104
        },
        {
          "description": "Motor 5",
          "value": 105
        },
        {
          "description": "Motor 6",
          "value": 106
        },
        {
          "description": "Motor 7",
          "value": 107
        },
        {
          "description": "Motor 8",
          "value": 108
        },
        {
          "description": "Motor 9",
          "value": 109
        },
        {
          "description": "Motor 10",
          "value": 110
        },
        {
          "description": "Motor 11",
          "value": 111
        },
        {
          "description": "Motor 12",
          "value": 112
        },
        {
          "description": "Servo 1",
          "value": 201
        },
        {
          "description": "Servo 2",
          "value": 202
        },
        {
          "description": "Servo 3",
          "value": 203
        },
        {
          "description": "Servo 4",
          "value": 204
        },
        {
          "description": "Servo 5",
          "value": 205
        },
        {
          "description": "Servo 6",
          "value": 206
        },
        {
          "description": "Servo 7",
          "value": 207
        },
        {
          "description": "Servo 8",
          "value": 208
        },
        {
          "description": "Offboard Actuator Set 1",
          "value": 301
        },
        {
          "description": "Offboard Actuator Set 2",
          "value": 302
        },
        {
          "description": "Offboard Actuator Set 3",
          "value": 303
        },
        {
          "description": "Offboard Actuator Set 4",
          "value": 304
        },
        {
          "description": "Offboard Actuator Set 5",
          "value": 305
        },
        {
          "description": "Offboard Actuator Set 6",
          "value": 306
        },
        {
          "description": "Landing Gear",
          "value": 400
        },
        {
          "description": "Parachute",
          "value": 401
        },
        {
          "description": "RC Roll",
          "value": 402
        },
        {
          "description": "RC Pitch",
          "value": 403
        },
        {
          "description": "RC Throttle",
          "value": 404
        },
        {
          "description": "RC Yaw",
          "value": 405
        },
        {
          "description": "RC Flaps",
          "value": 406
        },
        {
          "description": "RC AUX 1",
          "value": 407
        },
        {
          "description": "RC AUX 2",
          "value": 408
        },
        {
          "description": "RC AUX 3",
          "value": 409
        },
        {
          "description": "RC AUX 4",
          "value": 410
        },
        {
          "description": "RC AUX 5",
          "value": 411
        },
        {
          "description": "RC AUX 6",
          "value": 412
        },
        {
          "description": "Gimbal Roll",
          "value": 420
        },
        {
          "description": "Gimbal Pitch",
          "value": 421
        },
        {
          "description": "Gimbal Yaw",
          "value": 422
        },
        {
          "description": "Gripper",
          "value": 430
        },
        {
          "description": "Landing Gear Wheel",
          "value": 440
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Actuator Outputs",
      "longDesc": "Select what should be output on SIM Channel 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest",
      "name": "PWM_MAIN_FUNC5",
      "shortDesc": "SIM Channel 5 Output Function",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Constant Min",
          "value": 1
        },
        {
          "description": "Constant Max",
          "value": 2
        },
        {
          "description": "Motor 1",
          "value": 101
        },
        {
          "description": "Motor 2",
          "value": 102
        },
        {
          "description": "Motor 3",
          "value": 103
        },
        {
          "description": "Motor 4",
          "value": 104
        },
        {
          "description": "Motor 5",
          "value": 105
        },
        {
          "description": "Motor 6",
          "value": 106
        },
        {
          "description": "Motor 7",
          "value": 107
        },
        {
          "description": "Motor 8",
          "value": 108
        },
        {
          "description": "Motor 9",
          "value": 109
        },
        {
          "description": "Motor 10",
          "value": 110
        },
        {
          "description": "Motor 11",
          "value": 111
        },
        {
          "description": "Motor 12",
          "value": 112
        },
        {
          "description": "Servo 1",
          "value": 201
        },
        {
          "description": "Servo 2",
          "value": 202
        },
        {
          "description": "Servo 3",
          "value": 203
        },
        {
          "description": "Servo 4",
          "value": 204
        },
        {
          "description": "Servo 5",
          "value": 205
        },
        {
          "description": "Servo 6",
          "value": 206
        },
        {
          "description": "Servo 7",
          "value": 207
        },
        {
          "description": "Servo 8",
          "value": 208
        },
        {
          "description": "Offboard Actuator Set 1",
          "value": 301
        },
        {
          "description": "Offboard Actuator Set 2",
          "value": 302
        },
        {
          "description": "Offboard Actuator Set 3",
          "value": 303
        },
        {
          "description": "Offboard Actuator Set 4",
          "value": 304
        },
        {
          "description": "Offboard Actuator Set 5",
          "value": 305
        },
        {
          "description": "Offboard Actuator Set 6",
          "value": 306
        },
        {
          "description": "Landing Gear",
          "value": 400
        },
        {
          "description": "Parachute",
          "value": 401
        },
        {
          "description": "RC Roll",
          "value": 402
        },
        {
          "description": "RC Pitch",
          "value": 403
        },
        {
          "description": "RC Throttle",
          "value": 404
        },
        {
          "description": "RC Yaw",
          "value": 405
        },
        {
          "description": "RC Flaps",
          "value": 406
        },
        {
          "description": "RC AUX 1",
          "value": 407
        },
        {
          "description": "RC AUX 2",
          "value": 408
        },
        {
          "description": "RC AUX 3",
          "value": 409
        },
        {
          "description": "RC AUX 4",
          "value": 410
        },
        {
          "description": "RC AUX 5",
          "value": 411
        },
        {
          "description": "RC AUX 6",
          "value": 412
        },
        {
          "description": "Gimbal Roll",
          "value": 420
        },
        {
          "description": "Gimbal Pitch",
          "value": 421
        },
        {
          "description": "Gimbal Yaw",
          "value": 422
        },
        {
          "description": "Gripper",
          "value": 430
        },
        {
          "description": "Landing Gear Wheel",
          "value": 440
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Actuator Outputs",
      "longDesc": "Select what should be output on SIM Channel 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest",
      "name": "PWM_MAIN_FUNC6",
      "shortDesc": "SIM Channel 6 Output Function",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Constant Min",
          "value": 1
        },
        {
          "description": "Constant Max",
          "value": 2
        },
        {
          "description": "Motor 1",
          "value": 101
        },
        {
          "description": "Motor 2",
          "value": 102
        },
        {
          "description": "Motor 3",
          "value": 103
        },
        {
          "description": "Motor 4",
          "value": 104
        },
        {
          "description": "Motor 5",
          "value": 105
        },
        {
          "description": "Motor 6",
          "value": 106
        },
        {
          "description": "Motor 7",
          "value": 107
        },
        {
          "description": "Motor 8",
          "value": 108
        },
        {
          "description": "Motor 9",
          "value": 109
        },
        {
          "description": "Motor 10",
          "value": 110
        },
        {
          "description": "Motor 11",
          "value": 111
        },
        {
          "description": "Motor 12",
          "value": 112
        },
        {
          "description": "Servo 1",
          "value": 201
        },
        {
          "description": "Servo 2",
          "value": 202
        },
        {
          "description": "Servo 3",
          "value": 203
        },
        {
          "description": "Servo 4",
          "value": 204
        },
        {
          "description": "Servo 5",
          "value": 205
        },
        {
          "description": "Servo 6",
          "value": 206
        },
        {
          "description": "Servo 7",
          "value": 207
        },
        {
          "description": "Servo 8",
          "value": 208
        },
        {
          "description": "Offboard Actuator Set 1",
          "value": 301
        },
        {
          "description": "Offboard Actuator Set 2",
          "value": 302
        },
        {
          "description": "Offboard Actuator Set 3",
          "value": 303
        },
        {
          "description": "Offboard Actuator Set 4",
          "value": 304
        },
        {
          "description": "Offboard Actuator Set 5",
          "value": 305
        },
        {
          "description": "Offboard Actuator Set 6",
          "value": 306
        },
        {
          "description": "Landing Gear",
          "value": 400
        },
        {
          "description": "Parachute",
          "value": 401
        },
        {
          "description": "RC Roll",
          "value": 402
        },
        {
          "description": "RC Pitch",
          "value": 403
        },
        {
          "description": "RC Throttle",
          "value": 404
        },
        {
          "description": "RC Yaw",
          "value": 405
        },
        {
          "description": "RC Flaps",
          "value": 406
        },
        {
          "description": "RC AUX 1",
          "value": 407
        },
        {
          "description": "RC AUX 2",
          "value": 408
        },
        {
          "description": "RC AUX 3",
          "value": 409
        },
        {
          "description": "RC AUX 4",
          "value": 410
        },
        {
          "description": "RC AUX 5",
          "value": 411
        },
        {
          "description": "RC AUX 6",
          "value": 412
        },
        {
          "description": "Gimbal Roll",
          "value": 420
        },
        {
          "description": "Gimbal Pitch",
          "value": 421
        },
        {
          "description": "Gimbal Yaw",
          "value": 422
        },
        {
          "description": "Gripper",
          "value": 430
        },
        {
          "description": "Landing Gear Wheel",
          "value": 440
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Actuator Outputs",
      "longDesc": "Select what should be output on SIM Channel 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest",
      "name": "PWM_MAIN_FUNC7",
      "shortDesc": "SIM Channel 7 Output Function",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Constant Min",
          "value": 1
        },
        {
          "description": "Constant Max",
          "value": 2
        },
        {
          "description": "Motor 1",
          "value": 101
        },
        {
          "description": "Motor 2",
          "value": 102
        },
        {
          "description": "Motor 3",
          "value": 103
        },
        {
          "description": "Motor 4",
          "value": 104
        },
        {
          "description": "Motor 5",
          "value": 105
        },
        {
          "description": "Motor 6",
          "value": 106
        },
        {
          "description": "Motor 7",
          "value": 107
        },
        {
          "description": "Motor 8",
          "value": 108
        },
        {
          "description": "Motor 9",
          "value": 109
        },
        {
          "description": "Motor 10",
          "value": 110
        },
        {
          "description": "Motor 11",
          "value": 111
        },
        {
          "description": "Motor 12",
          "value": 112
        },
        {
          "description": "Servo 1",
          "value": 201
        },
        {
          "description": "Servo 2",
          "value": 202
        },
        {
          "description": "Servo 3",
          "value": 203
        },
        {
          "description": "Servo 4",
          "value": 204
        },
        {
          "description": "Servo 5",
          "value": 205
        },
        {
          "description": "Servo 6",
          "value": 206
        },
        {
          "description": "Servo 7",
          "value": 207
        },
        {
          "description": "Servo 8",
          "value": 208
        },
        {
          "description": "Offboard Actuator Set 1",
          "value": 301
        },
        {
          "description": "Offboard Actuator Set 2",
          "value": 302
        },
        {
          "description": "Offboard Actuator Set 3",
          "value": 303
        },
        {
          "description": "Offboard Actuator Set 4",
          "value": 304
        },
        {
          "description": "Offboard Actuator Set 5",
          "value": 305
        },
        {
          "description": "Offboard Actuator Set 6",
          "value": 306
        },
        {
          "description": "Landing Gear",
          "value": 400
        },
        {
          "description": "Parachute",
          "value": 401
        },
        {
          "description": "RC Roll",
          "value": 402
        },
        {
          "description": "RC Pitch",
          "value": 403
        },
        {
          "description": "RC Throttle",
          "value": 404
        },
        {
          "description": "RC Yaw",
          "value": 405
        },
        {
          "description": "RC Flaps",
          "value": 406
        },
        {
          "description": "RC AUX 1",
          "value": 407
        },
        {
          "description": "RC AUX 2",
          "value": 408
        },
        {
          "description": "RC AUX 3",
          "value": 409
        },
        {
          "description": "RC AUX 4",
          "value": 410
        },
        {
          "description": "RC AUX 5",
          "value": 411
        },
        {
          "description": "RC AUX 6",
          "value": 412
        },
        {
          "description": "Gimbal Roll",
          "value": 420
        },
        {
          "description": "Gimbal Pitch",
          "value": 421
        },
        {
          "description": "Gimbal Yaw",
          "value": 422
        },
        {
          "description": "Gripper",
          "value": 430
        },
        {
          "description": "Landing Gear Wheel",
          "value": 440
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Actuator Outputs",
      "longDesc": "Select what should be output on SIM Channel 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest",
      "name": "PWM_MAIN_FUNC8",
      "shortDesc": "SIM Channel 8 Output Function",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Constant Min",
          "value": 1
        },
        {
          "description": "Constant Max",
          "value": 2
        },
        {
          "description": "Motor 1",
          "value": 101
        },
        {
          "description": "Motor 2",
          "value": 102
        },
        {
          "description": "Motor 3",
          "value": 103
        },
        {
          "description": "Motor 4",
          "value": 104
        },
        {
          "description": "Motor 5",
          "value": 105
        },
        {
          "description": "Motor 6",
          "value": 106
        },
        {
          "description": "Motor 7",
          "value": 107
        },
        {
          "description": "Motor 8",
          "value": 108
        },
        {
          "description": "Motor 9",
          "value": 109
        },
        {
          "description": "Motor 10",
          "value": 110
        },
        {
          "description": "Motor 11",
          "value": 111
        },
        {
          "description": "Motor 12",
          "value": 112
        },
        {
          "description": "Servo 1",
          "value": 201
        },
        {
          "description": "Servo 2",
          "value": 202
        },
        {
          "description": "Servo 3",
          "value": 203
        },
        {
          "description": "Servo 4",
          "value": 204
        },
        {
          "description": "Servo 5",
          "value": 205
        },
        {
          "description": "Servo 6",
          "value": 206
        },
        {
          "description": "Servo 7",
          "value": 207
        },
        {
          "description": "Servo 8",
          "value": 208
        },
        {
          "description": "Offboard Actuator Set 1",
          "value": 301
        },
        {
          "description": "Offboard Actuator Set 2",
          "value": 302
        },
        {
          "description": "Offboard Actuator Set 3",
          "value": 303
        },
        {
          "description": "Offboard Actuator Set 4",
          "value": 304
        },
        {
          "description": "Offboard Actuator Set 5",
          "value": 305
        },
        {
          "description": "Offboard Actuator Set 6",
          "value": 306
        },
        {
          "description": "Landing Gear",
          "value": 400
        },
        {
          "description": "Parachute",
          "value": 401
        },
        {
          "description": "RC Roll",
          "value": 402
        },
        {
          "description": "RC Pitch",
          "value": 403
        },
        {
          "description": "RC Throttle",
          "value": 404
        },
        {
          "description": "RC Yaw",
          "value": 405
        },
        {
          "description": "RC Flaps",
          "value": 406
        },
        {
          "description": "RC AUX 1",
          "value": 407
        },
        {
          "description": "RC AUX 2",
          "value": 408
        },
        {
          "description": "RC AUX 3",
          "value": 409
        },
        {
          "description": "RC AUX 4",
          "value": 410
        },
        {
          "description": "RC AUX 5",
          "value": 411
        },
        {
          "description": "RC AUX 6",
          "value": 412
        },
        {
          "description": "Gimbal Roll",
          "value": 420
        },
        {
          "description": "Gimbal Pitch",
          "value": 421
        },
        {
          "description": "Gimbal Yaw",
          "value": 422
        },
        {
          "description": "Gripper",
          "value": 430
        },
        {
          "description": "Landing Gear Wheel",
          "value": 440
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Actuator Outputs",
      "longDesc": "Select what should be output on SIM Channel 9. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest",
      "name": "PWM_MAIN_FUNC9",
      "shortDesc": "SIM Channel 9 Output Function",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Constant Min",
          "value": 1
        },
        {
          "description": "Constant Max",
          "value": 2
        },
        {
          "description": "Motor 1",
          "value": 101
        },
        {
          "description": "Motor 2",
          "value": 102
        },
        {
          "description": "Motor 3",
          "value": 103
        },
        {
          "description": "Motor 4",
          "value": 104
        },
        {
          "description": "Motor 5",
          "value": 105
        },
        {
          "description": "Motor 6",
          "value": 106
        },
        {
          "description": "Motor 7",
          "value": 107
        },
        {
          "description": "Motor 8",
          "value": 108
        },
        {
          "description": "Motor 9",
          "value": 109
        },
        {
          "description": "Motor 10",
          "value": 110
        },
        {
          "description": "Motor 11",
          "value": 111
        },
        {
          "description": "Motor 12",
          "value": 112
        },
        {
          "description": "Servo 1",
          "value": 201
        },
        {
          "description": "Servo 2",
          "value": 202
        },
        {
          "description": "Servo 3",
          "value": 203
        },
        {
          "description": "Servo 4",
          "value": 204
        },
        {
          "description": "Servo 5",
          "value": 205
        },
        {
          "description": "Servo 6",
          "value": 206
        },
        {
          "description": "Servo 7",
          "value": 207
        },
        {
          "description": "Servo 8",
          "value": 208
        },
        {
          "description": "Offboard Actuator Set 1",
          "value": 301
        },
        {
          "description": "Offboard Actuator Set 2",
          "value": 302
        },
        {
          "description": "Offboard Actuator Set 3",
          "value": 303
        },
        {
          "description": "Offboard Actuator Set 4",
          "value": 304
        },
        {
          "description": "Offboard Actuator Set 5",
          "value": 305
        },
        {
          "description": "Offboard Actuator Set 6",
          "value": 306
        },
        {
          "description": "Landing Gear",
          "value": 400
        },
        {
          "description": "Parachute",
          "value": 401
        },
        {
          "description": "RC Roll",
          "value": 402
        },
        {
          "description": "RC Pitch",
          "value": 403
        },
        {
          "description": "RC Throttle",
          "value": 404
        },
        {
          "description": "RC Yaw",
          "value": 405
        },
        {
          "description": "RC Flaps",
          "value": 406
        },
        {
          "description": "RC AUX 1",
          "value": 407
        },
        {
          "description": "RC AUX 2",
          "value": 408
        },
        {
          "description": "RC AUX 3",
          "value": 409
        },
        {
          "description": "RC AUX 4",
          "value": 410
        },
        {
          "description": "RC AUX 5",
          "value": 411
        },
        {
          "description": "RC AUX 6",
          "value": 412
        },
        {
          "description": "Gimbal Roll",
          "value": 420
        },
        {
          "description": "Gimbal Pitch",
          "value": 421
        },
        {
          "description": "Gimbal Yaw",
          "value": 422
        },
        {
          "description": "Gripper",
          "value": 430
        },
        {
          "description": "Landing Gear Wheel",
          "value": 440
        }
      ]
    },
    {
      "bitmask": [
        {
          "description": "SIM Channel 1",
          "index": 0
        },
        {
          "description": "SIM Channel 2",
          "index": 1
        },
        {
          "description": "SIM Channel 3",
          "index": 2
        },
        {
          "description": "SIM Channel 4",
          "index": 3
        },
        {
          "description": "SIM Channel 5",
          "index": 4
        },
        {
          "description": "SIM Channel 6",
          "index": 5
        },
        {
          "description": "SIM Channel 7",
          "index": 6
        },
        {
          "description": "SIM Channel 8",
          "index": 7
        },
        {
          "description": "SIM Channel 9",
          "index": 8
        },
        {
          "description": "SIM Channel 10",
          "index": 9
        },
        {
          "description": "SIM Channel 11",
          "index": 10
        },
        {
          "description": "SIM Channel 12",
          "index": 11
        },
        {
          "description": "SIM Channel 13",
          "index": 12
        },
        {
          "description": "SIM Channel 14",
          "index": 13
        },
        {
          "description": "SIM Channel 15",
          "index": 14
        },
        {
          "description": "SIM Channel 16",
          "index": 15
        }
      ],
      "category": "Standard",
      "default": 0,
      "group": "Actuator Outputs",
      "longDesc": "Allows to reverse the output range for each channel. Note: this is only useful for servos.",
      "max": 65535,
      "min": 0,
      "name": "PWM_MAIN_REV",
      "shortDesc": "Reverse Output Range for SIM",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Airspeed Validator",
      "longDesc": "Sets the number of standard deviations used by the innovation consistency test.",
      "max": 5,
      "min": 1,
      "name": "ASPD_BETA_GATE",
      "shortDesc": "Airspeed Selector: Gate size for sideslip angle fusion",
      "type": "Int32",
      "units": "SD"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.3,
      "group": "Airspeed Validator",
      "longDesc": "Sideslip measurement noise of the internal wind estimator(s) of the airspeed selector.",
      "max": 1.0,
      "min": 0.0,
      "name": "ASPD_BETA_NOISE",
      "shortDesc": "Airspeed Selector: Wind estimator sideslip measurement noise",
      "type": "Float",
      "units": "rad"
    },
    {
      "bitmask": [
        {
          "description": "Only data missing check (triggers if more than 1s no data)",
          "index": 0
        },
        {
          "description": "Data stuck (triggers if data is exactly constant for 2s in FW mode)",
          "index": 1
        },
        {
          "description": "Innovation check (see ASPD_FS_INNOV)",
          "index": 2
        },
        {
          "description": "Load factor check (triggers if measurement is below stall speed)",
          "index": 3
        }
      ],
      "category": "Standard",
      "default": 7,
      "group": "Airspeed Validator",
      "longDesc": "Controls which checks are run to check airspeed data for validity. Only applied if ASPD_PRIMARY > 0. Note that the data missing check is enabled if any of the options is set.",
      "max": 15,
      "min": 0,
      "name": "ASPD_DO_CHECKS",
      "shortDesc": "Enable checks on airspeed sensors",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Airspeed Validator",
      "longDesc": "If set to true and airspeed checks are enabled, it will use a sensor-less airspeed estimation based on groundspeed minus windspeed if no other airspeed sensor available to fall back to.",
      "name": "ASPD_FALLBACK_GW",
      "shortDesc": "Enable fallback to sensor-less airspeed estimation",
      "type": "Int32",
      "values": [
        {
          "description": "Disable fallback to sensor-less estimation",
          "value": 0
        },
        {
          "description": "Enable fallback to sensor-less estimation",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "Airspeed Validator",
      "longDesc": "This specifies the minimum airspeed innovation required to trigger a failsafe. Larger values make the check less sensitive, smaller values make it more sensitive. Large innovations indicate an inconsistency between predicted (groundspeed - windspeeed) and measured airspeed. The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the ASPD_FS_INTEG parameter.",
      "max": 10.0,
      "min": 0.5,
      "name": "ASPD_FS_INNOV",
      "shortDesc": "Airspeed failure innovation threshold",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 10.0,
      "group": "Airspeed Validator",
      "longDesc": "This sets the time integral of airspeed innovation exceedance above ASPD_FS_INNOV required to trigger a failsafe. Larger values make the check less sensitive, smaller positive values make it more sensitive.",
      "max": 50.0,
      "min": 0.0,
      "name": "ASPD_FS_INTEG",
      "shortDesc": "Airspeed failure innovation integral threshold",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": -1,
      "group": "Airspeed Validator",
      "longDesc": "Delay before switching back to using airspeed sensor if checks indicate sensor is good. Set to a negative value to disable the re-enabling in flight.",
      "max": 1000,
      "min": -1,
      "name": "ASPD_FS_T_START",
      "shortDesc": "Airspeed failsafe start delay",
      "type": "Int32",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 2,
      "group": "Airspeed Validator",
      "longDesc": "Delay before stopping use of airspeed sensor if checks indicate sensor is bad.",
      "max": 10,
      "min": 1,
      "name": "ASPD_FS_T_STOP",
      "shortDesc": "Airspeed failsafe stop delay",
      "type": "Int32",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Airspeed Validator",
      "name": "ASPD_PRIMARY",
      "rebootRequired": true,
      "shortDesc": "Index or primary airspeed measurement source",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": -1
        },
        {
          "description": "Groundspeed minus windspeed",
          "value": 0
        },
        {
          "description": "First airspeed sensor",
          "value": 1
        },
        {
          "description": "Second airspeed sensor",
          "value": 2
        },
        {
          "description": "Third airspeed sensor",
          "value": 3
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 1.0,
      "group": "Airspeed Validator",
      "longDesc": "This is the scale IAS --> CAS of the first airspeed sensor instance",
      "max": 2.0,
      "min": 0.5,
      "name": "ASPD_SCALE_1",
      "rebootRequired": true,
      "shortDesc": "Scale of airspeed sensor 1",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 1.0,
      "group": "Airspeed Validator",
      "longDesc": "This is the scale IAS --> CAS of the second airspeed sensor instance",
      "max": 2.0,
      "min": 0.5,
      "name": "ASPD_SCALE_2",
      "rebootRequired": true,
      "shortDesc": "Scale of airspeed sensor 2",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 1.0,
      "group": "Airspeed Validator",
      "longDesc": "This is the scale IAS --> CAS of the third airspeed sensor instance",
      "max": 2.0,
      "min": 0.5,
      "name": "ASPD_SCALE_3",
      "rebootRequired": true,
      "shortDesc": "Scale of airspeed sensor 3",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "Standard",
      "default": 2,
      "group": "Airspeed Validator",
      "name": "ASPD_SCALE_APPLY",
      "shortDesc": "Controls when to apply the new estimated airspeed scale(s)",
      "type": "Int32",
      "values": [
        {
          "description": "Do not automatically apply the estimated scale",
          "value": 0
        },
        {
          "description": "Apply the estimated scale after disarm",
          "value": 1
        },
        {
          "description": "Apply the estimated scale in air",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 5,
      "default": 0.0001,
      "group": "Airspeed Validator",
      "longDesc": "Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector. When unaided, the scale uncertainty (1-sigma, unitless) increases by this amount every second.",
      "max": 0.1,
      "min": 0.0,
      "name": "ASPD_SCALE_NSD",
      "shortDesc": "Airspeed Selector: Wind estimator true airspeed scale process noise spectral density",
      "type": "Float",
      "units": "1/s/sqrt(Hz)"
    },
    {
      "category": "Standard",
      "default": 3,
      "group": "Airspeed Validator",
      "longDesc": "Sets the number of standard deviations used by the innovation consistency test.",
      "max": 5,
      "min": 1,
      "name": "ASPD_TAS_GATE",
      "shortDesc": "Airspeed Selector: Gate size for true airspeed fusion",
      "type": "Int32",
      "units": "SD"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 1.4,
      "group": "Airspeed Validator",
      "longDesc": "True airspeed measurement noise of the internal wind estimator(s) of the airspeed selector.",
      "max": 4.0,
      "min": 0.0,
      "name": "ASPD_TAS_NOISE",
      "shortDesc": "Airspeed Selector: Wind estimator true airspeed measurement noise",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.55,
      "group": "Airspeed Validator",
      "longDesc": "The synthetic airspeed estimate (from groundspeed and heading) will be declared valid as soon and as long the horizontal wind uncertainty drops below this value.",
      "max": 5.0,
      "min": 0.001,
      "name": "ASPD_WERR_THR",
      "shortDesc": "Horizontal wind uncertainty threshold for synthetic airspeed",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.01,
      "group": "Airspeed Validator",
      "longDesc": "Wind process noise of the internal wind estimator(s) of the airspeed selector. When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.",
      "max": 1.0,
      "min": 0.0,
      "name": "ASPD_WIND_NSD",
      "shortDesc": "Airspeed Selector: Wind estimator wind process noise noise spectral density",
      "type": "Float",
      "units": "m/s^2/sqrt(Hz)"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Attitude Q estimator",
      "name": "ATT_ACC_COMP",
      "shortDesc": "Acceleration compensation based on GPS velocity",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.05,
      "group": "Attitude Q estimator",
      "max": 2.0,
      "min": 0.0,
      "name": "ATT_BIAS_MAX",
      "shortDesc": "Gyro bias limit",
      "type": "Float",
      "units": "rad/s"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Attitude Q estimator",
      "longDesc": "Set to 1 to use heading estimate from vision. Set to 2 to use heading from motion capture.",
      "max": 2,
      "min": 0,
      "name": "ATT_EXT_HDG_M",
      "shortDesc": "External heading usage mode (from Motion capture/Vision)",
      "type": "Int32",
      "values": [
        {
          "description": "None",
          "value": 0
        },
        {
          "description": "Vision",
          "value": 1
        },
        {
          "description": "Motion Capture",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Attitude Q estimator",
      "longDesc": "This parameter is not used in normal operation, as the declination is looked up based on the GPS coordinates of the vehicle.",
      "name": "ATT_MAG_DECL",
      "shortDesc": "Magnetic declination, in degrees",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Attitude Q estimator",
      "name": "ATT_MAG_DECL_A",
      "shortDesc": "Automatic GPS based declination compensation",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.2,
      "group": "Attitude Q estimator",
      "max": 1.0,
      "min": 0.0,
      "name": "ATT_W_ACC",
      "shortDesc": "Complimentary filter accelerometer weight",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0.1,
      "group": "Attitude Q estimator",
      "max": 1.0,
      "min": 0.0,
      "name": "ATT_W_EXT_HDG",
      "shortDesc": "Complimentary filter external heading weight",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.1,
      "group": "Attitude Q estimator",
      "max": 1.0,
      "min": 0.0,
      "name": "ATT_W_GYRO_BIAS",
      "shortDesc": "Complimentary filter gyroscope bias weight",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.1,
      "group": "Attitude Q estimator",
      "longDesc": "Set to 0 to avoid using the magnetometer.",
      "max": 1.0,
      "min": 0.0,
      "name": "ATT_W_MAG",
      "shortDesc": "Complimentary filter magnetometer weight",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 2,
      "group": "Autotune",
      "longDesc": "After the auto-tuning sequence is completed, a new set of gains is available and can be applied immediately or after landing.",
      "name": "FW_AT_APPLY",
      "shortDesc": "Controls when to apply the new gains",
      "type": "Int32",
      "values": [
        {
          "description": "Do not apply the new gains (logging only)",
          "value": 0
        },
        {
          "description": "Apply the new gains after disarm",
          "value": 1
        },
        {
          "description": "Apply the new gains in air",
          "value": 2
        }
      ]
    },
    {
      "bitmask": [
        {
          "description": "roll",
          "index": 0
        },
        {
          "description": "pitch",
          "index": 1
        },
        {
          "description": "yaw",
          "index": 2
        }
      ],
      "category": "Standard",
      "default": 3,
      "group": "Autotune",
      "longDesc": "Defines which axes will be tuned during the auto-tuning sequence Set bits in the following positions to enable: 0 : Roll 1 : Pitch 2 : Yaw",
      "max": 7,
      "min": 1,
      "name": "FW_AT_AXES",
      "shortDesc": "Tuning axes selection",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Autotune",
      "longDesc": "Defines which RC_MAP_AUXn parameter maps the RC channel used to enable/disable auto tuning.",
      "max": 6,
      "min": 0,
      "name": "FW_AT_MAN_AUX",
      "shortDesc": "Enable/disable auto tuning using an RC AUX input",
      "type": "Int32",
      "values": [
        {
          "description": "Disable",
          "value": 0
        },
        {
          "description": "Aux1",
          "value": 1
        },
        {
          "description": "Aux2",
          "value": 2
        },
        {
          "description": "Aux3",
          "value": 3
        },
        {
          "description": "Aux4",
          "value": 4
        },
        {
          "description": "Aux5",
          "value": 5
        },
        {
          "description": "Aux6",
          "value": 6
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Autotune",
      "longDesc": "WARNING: this will inject steps to the rate controller and can be dangerous. Only activate if you know what you are doing, and in a safe environment. Any motion of the remote stick will abort the signal injection and reset this parameter Best is to perform the identification in position or hold mode. Increase the amplitude of the injected signal using FW_AT_SYSID_AMP for more signal/noise ratio",
      "name": "FW_AT_START",
      "shortDesc": "Start the autotuning sequence",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 1.0,
      "group": "Autotune",
      "longDesc": "This parameter scales the signal sent to the rate controller during system identification.",
      "max": 6.0,
      "min": 0.1,
      "name": "FW_AT_SYSID_AMP",
      "shortDesc": "Amplitude of the injected signal",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Autotune",
      "longDesc": "After the auto-tuning sequence is completed, a new set of gains is available and can be applied immediately or after landing. WARNING Applying the gains in air is dangerous as there is no guarantee that those new gains will be able to stabilize the drone properly.",
      "name": "MC_AT_APPLY",
      "shortDesc": "Controls when to apply the new gains",
      "type": "Int32",
      "values": [
        {
          "description": "Do not apply the new gains (logging only)",
          "value": 0
        },
        {
          "description": "Apply the new gains after disarm",
          "value": 1
        },
        {
          "description": "WARNING Apply the new gains in air",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Autotune",
      "name": "MC_AT_EN",
      "shortDesc": "Multicopter autotune module enable",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.14,
      "group": "Autotune",
      "max": 0.5,
      "min": 0.01,
      "name": "MC_AT_RISE_TIME",
      "shortDesc": "Desired angular rate closed-loop rise time",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Autotune",
      "longDesc": "WARNING: this will inject steps to the rate controller and can be dangerous. Only activate if you know what you are doing, and in a safe environment. Any motion of the remote stick will abort the signal injection and reset this parameter Best is to perform the identification in position or hold mode. Increase the amplitude of the injected signal using MC_AT_SYSID_AMP for more signal/noise ratio",
      "name": "MC_AT_START",
      "shortDesc": "Start the autotuning sequence",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.7,
      "group": "Autotune",
      "max": 6.0,
      "min": 0.1,
      "name": "MC_AT_SYSID_AMP",
      "shortDesc": "Amplitude of the injected signal",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 0,
      "default": -1.0,
      "group": "Battery Calibration",
      "increment": 50.0,
      "longDesc": "Defines the capacity of battery 1 in mAh.",
      "max": 100000.0,
      "min": -1.0,
      "name": "BAT1_CAPACITY",
      "rebootRequired": true,
      "shortDesc": "Battery 1 capacity",
      "type": "Float",
      "units": "mAh"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Battery Calibration",
      "longDesc": "Defines the number of cells the attached battery consists of.",
      "name": "BAT1_N_CELLS",
      "rebootRequired": true,
      "shortDesc": "Number of cells for battery 1",
      "type": "Int32",
      "values": [
        {
          "description": "1S Battery",
          "value": 1
        },
        {
          "description": "2S Battery",
          "value": 2
        },
        {
          "description": "3S Battery",
          "value": 3
        },
        {
          "description": "4S Battery",
          "value": 4
        },
        {
          "description": "5S Battery",
          "value": 5
        },
        {
          "description": "6S Battery",
          "value": 6
        },
        {
          "description": "7S Battery",
          "value": 7
        },
        {
          "description": "8S Battery",
          "value": 8
        },
        {
          "description": "9S Battery",
          "value": 9
        },
        {
          "description": "10S Battery",
          "value": 10
        },
        {
          "description": "11S Battery",
          "value": 11
        },
        {
          "description": "12S Battery",
          "value": 12
        },
        {
          "description": "13S Battery",
          "value": 13
        },
        {
          "description": "14S Battery",
          "value": 14
        },
        {
          "description": "15S Battery",
          "value": 15
        },
        {
          "description": "16S Battery",
          "value": 16
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 4,
      "default": 0.005,
      "group": "Battery Calibration",
      "increment": 0.0005,
      "longDesc": "If non-negative, then this will be used in place of BAT1_V_LOAD_DROP for all calculations.",
      "max": 0.2,
      "min": -1.0,
      "name": "BAT1_R_INTERNAL",
      "rebootRequired": true,
      "shortDesc": "Explicitly defines the per cell internal resistance for battery 1",
      "type": "Float",
      "units": "Ohm"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Battery Calibration",
      "longDesc": "This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.",
      "name": "BAT1_SOURCE",
      "rebootRequired": true,
      "shortDesc": "Battery 1 monitoring source",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": -1
        },
        {
          "description": "Power Module",
          "value": 0
        },
        {
          "description": "External",
          "value": 1
        },
        {
          "description": "ESCs",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 4.05,
      "group": "Battery Calibration",
      "increment": 0.01,
      "longDesc": "Defines the voltage where a single cell of battery 1 is considered full under a mild load. This will never be the nominal voltage of 4.2V",
      "name": "BAT1_V_CHARGED",
      "rebootRequired": true,
      "shortDesc": "Full cell voltage (5C load)",
      "type": "Float",
      "units": "V"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 3.6,
      "group": "Battery Calibration",
      "increment": 0.01,
      "longDesc": "Defines the voltage where a single cell of battery 1 is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.",
      "name": "BAT1_V_EMPTY",
      "rebootRequired": true,
      "shortDesc": "Empty cell voltage (5C load)",
      "type": "Float",
      "units": "V"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.1,
      "group": "Battery Calibration",
      "increment": 0.01,
      "longDesc": "This implicitly defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT1_R_INTERNAL is set.",
      "max": 0.5,
      "min": 0.07,
      "name": "BAT1_V_LOAD_DROP",
      "rebootRequired": true,
      "shortDesc": "Voltage drop per cell on full throttle",
      "type": "Float",
      "units": "V"
    },
    {
      "category": "Standard",
      "decimalPlaces": 0,
      "default": -1.0,
      "group": "Battery Calibration",
      "increment": 50.0,
      "longDesc": "Defines the capacity of battery 2 in mAh.",
      "max": 100000.0,
      "min": -1.0,
      "name": "BAT2_CAPACITY",
      "rebootRequired": true,
      "shortDesc": "Battery 2 capacity",
      "type": "Float",
      "units": "mAh"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Battery Calibration",
      "longDesc": "Defines the number of cells the attached battery consists of.",
      "name": "BAT2_N_CELLS",
      "rebootRequired": true,
      "shortDesc": "Number of cells for battery 2",
      "type": "Int32",
      "values": [
        {
          "description": "1S Battery",
          "value": 1
        },
        {
          "description": "2S Battery",
          "value": 2
        },
        {
          "description": "3S Battery",
          "value": 3
        },
        {
          "description": "4S Battery",
          "value": 4
        },
        {
          "description": "5S Battery",
          "value": 5
        },
        {
          "description": "6S Battery",
          "value": 6
        },
        {
          "description": "7S Battery",
          "value": 7
        },
        {
          "description": "8S Battery",
          "value": 8
        },
        {
          "description": "9S Battery",
          "value": 9
        },
        {
          "description": "10S Battery",
          "value": 10
        },
        {
          "description": "11S Battery",
          "value": 11
        },
        {
          "description": "12S Battery",
          "value": 12
        },
        {
          "description": "13S Battery",
          "value": 13
        },
        {
          "description": "14S Battery",
          "value": 14
        },
        {
          "description": "15S Battery",
          "value": 15
        },
        {
          "description": "16S Battery",
          "value": 16
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 4,
      "default": 0.005,
      "group": "Battery Calibration",
      "increment": 0.0005,
      "longDesc": "If non-negative, then this will be used in place of BAT2_V_LOAD_DROP for all calculations.",
      "max": 0.2,
      "min": -1.0,
      "name": "BAT2_R_INTERNAL",
      "rebootRequired": true,
      "shortDesc": "Explicitly defines the per cell internal resistance for battery 2",
      "type": "Float",
      "units": "Ohm"
    },
    {
      "category": "Standard",
      "default": -1,
      "group": "Battery Calibration",
      "longDesc": "This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.",
      "name": "BAT2_SOURCE",
      "rebootRequired": true,
      "shortDesc": "Battery 2 monitoring source",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": -1
        },
        {
          "description": "Power Module",
          "value": 0
        },
        {
          "description": "External",
          "value": 1
        },
        {
          "description": "ESCs",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 4.05,
      "group": "Battery Calibration",
      "increment": 0.01,
      "longDesc": "Defines the voltage where a single cell of battery 1 is considered full under a mild load. This will never be the nominal voltage of 4.2V",
      "name": "BAT2_V_CHARGED",
      "rebootRequired": true,
      "shortDesc": "Full cell voltage (5C load)",
      "type": "Float",
      "units": "V"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 3.6,
      "group": "Battery Calibration",
      "increment": 0.01,
      "longDesc": "Defines the voltage where a single cell of battery 1 is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.",
      "name": "BAT2_V_EMPTY",
      "rebootRequired": true,
      "shortDesc": "Empty cell voltage (5C load)",
      "type": "Float",
      "units": "V"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.1,
      "group": "Battery Calibration",
      "increment": 0.01,
      "longDesc": "This implicitly defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT2_R_INTERNAL is set.",
      "max": 0.5,
      "min": 0.07,
      "name": "BAT2_V_LOAD_DROP",
      "rebootRequired": true,
      "shortDesc": "Voltage drop per cell on full throttle",
      "type": "Float",
      "units": "V"
    },
    {
      "category": "Standard",
      "default": 15.0,
      "group": "Battery Calibration",
      "increment": 0.1,
      "longDesc": "This value is used to initialize the in-flight average current estimation, which in turn is used for estimating remaining flight time and RTL triggering.",
      "max": 500.0,
      "min": 0.0,
      "name": "BAT_AVRG_CURRENT",
      "shortDesc": "Expected battery current in flight",
      "type": "Float",
      "units": "A"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.07,
      "group": "Battery Calibration",
      "increment": 0.01,
      "longDesc": "Sets the threshold when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL.",
      "max": 0.25,
      "min": 0.05,
      "name": "BAT_CRIT_THR",
      "shortDesc": "Critical threshold",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.05,
      "group": "Battery Calibration",
      "increment": 0.01,
      "longDesc": "Sets the threshold when the battery will be reported as dangerously low. This has to be lower than the critical threshold. This threshold commonly will trigger landing.",
      "max": 0.1,
      "min": 0.03,
      "name": "BAT_EMERGEN_THR",
      "shortDesc": "Emergency threshold",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.15,
      "group": "Battery Calibration",
      "increment": 0.01,
      "longDesc": "Sets the threshold when the battery will be reported as low. This has to be higher than the critical threshold.",
      "max": 0.5,
      "min": 0.12,
      "name": "BAT_LOW_THR",
      "shortDesc": "Low threshold",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "System",
      "default": 3,
      "group": "Battery Calibration",
      "name": "BAT_N_CELLS",
      "shortDesc": "This parameter is deprecated. Please use BAT1_N_CELLS instead",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": 4.05,
      "group": "Battery Calibration",
      "name": "BAT_V_CHARGED",
      "shortDesc": "This parameter is deprecated. Please use BAT1_V_CHARGED instead",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 3.6,
      "group": "Battery Calibration",
      "name": "BAT_V_EMPTY",
      "shortDesc": "This parameter is deprecated. Please use BAT1_V_EMPTY instead",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.3,
      "group": "Battery Calibration",
      "name": "BAT_V_LOAD_DROP",
      "shortDesc": "This parameter is deprecated. Please use BAT1_V_LOAD_DROP instead",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 40.0,
      "group": "Camera trigger",
      "longDesc": "This parameter sets the time the trigger needs to pulled high or low.",
      "max": 3000.0,
      "min": 0.1,
      "name": "TRIG_ACT_TIME",
      "rebootRequired": true,
      "shortDesc": "Camera trigger activation time",
      "type": "Float",
      "units": "ms"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 25.0,
      "group": "Camera trigger",
      "increment": 1.0,
      "longDesc": "Sets the distance at which to trigger the camera.",
      "min": 0.0,
      "name": "TRIG_DISTANCE",
      "rebootRequired": true,
      "shortDesc": "Camera trigger distance",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 4,
      "group": "Camera trigger",
      "longDesc": "Selects the trigger interface",
      "name": "TRIG_INTERFACE",
      "rebootRequired": true,
      "shortDesc": "Camera trigger Interface",
      "type": "Int32",
      "values": [
        {
          "description": "GPIO",
          "value": 1
        },
        {
          "description": "Seagull MAP2 (over PWM)",
          "value": 2
        },
        {
          "description": "MAVLink (forward via MAV_CMD_IMAGE_START_CAPTURE)",
          "value": 3
        },
        {
          "description": "Generic PWM (IR trigger, servo)",
          "value": 4
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 40.0,
      "group": "Camera trigger",
      "longDesc": "This parameter sets the time between two consecutive trigger events",
      "max": 10000.0,
      "min": 4.0,
      "name": "TRIG_INTERVAL",
      "rebootRequired": true,
      "shortDesc": "Camera trigger interval",
      "type": "Float",
      "units": "ms"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 1.0,
      "group": "Camera trigger",
      "longDesc": "This parameter sets the minimum time between two consecutive trigger events the specific camera setup is supporting.",
      "max": 10000.0,
      "min": 1.0,
      "name": "TRIG_MIN_INTERVA",
      "rebootRequired": true,
      "shortDesc": "Minimum camera trigger interval",
      "type": "Float",
      "units": "ms"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Camera trigger",
      "max": 4,
      "min": 0,
      "name": "TRIG_MODE",
      "rebootRequired": true,
      "shortDesc": "Camera trigger mode",
      "type": "Int32",
      "values": [
        {
          "description": "Disable",
          "value": 0
        },
        {
          "description": "Time based, on command",
          "value": 1
        },
        {
          "description": "Time based, always on",
          "value": 2
        },
        {
          "description": "Distance based, always on",
          "value": 3
        },
        {
          "description": "Distance based, on command (Survey mode)",
          "value": 4
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Camera trigger",
      "longDesc": "This parameter sets the polarity of the trigger (0 = active low, 1 = active high )",
      "max": 1,
      "min": 0,
      "name": "TRIG_POLARITY",
      "rebootRequired": true,
      "shortDesc": "Camera trigger polarity",
      "type": "Int32",
      "values": [
        {
          "description": "Active low",
          "value": 0
        },
        {
          "description": "Active high",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1500,
      "group": "Camera trigger",
      "max": 2000,
      "min": 1000,
      "name": "TRIG_PWM_NEUTRAL",
      "rebootRequired": true,
      "shortDesc": "PWM neutral output on trigger pin",
      "type": "Int32",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1900,
      "group": "Camera trigger",
      "max": 2000,
      "min": 1000,
      "name": "TRIG_PWM_SHOOT",
      "rebootRequired": true,
      "shortDesc": "PWM output to trigger shot",
      "type": "Int32",
      "units": "us"
    },
    {
      "category": "Developer",
      "default": 0,
      "group": "Circuit Breaker",
      "longDesc": "Setting this parameter to 162128 will disable the check for an airspeed sensor. The sensor driver will not be started and it cannot be calibrated. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK",
      "max": 162128,
      "min": 0,
      "name": "CBRK_AIRSPD_CHK",
      "rebootRequired": true,
      "shortDesc": "Circuit breaker for airspeed sensor",
      "type": "Int32"
    },
    {
      "category": "Developer",
      "default": 0,
      "group": "Circuit Breaker",
      "longDesc": "Setting this parameter to 782097 will disable the buzzer audio notification. Setting this parameter to 782090 will disable the startup tune, while keeping all others enabled.",
      "max": 782097,
      "min": 0,
      "name": "CBRK_BUZZER",
      "rebootRequired": true,
      "shortDesc": "Circuit breaker for disabling buzzer",
      "type": "Int32"
    },
    {
      "category": "Developer",
      "default": 121212,
      "group": "Circuit Breaker",
      "longDesc": "Setting this parameter to 121212 will disable the flight termination action if triggered by the FailureDetector logic or if FMU is lost. This circuit breaker does not affect the RC loss, data link loss, geofence, and takeoff failure detection safety logic.",
      "max": 121212,
      "min": 0,
      "name": "CBRK_FLIGHTTERM",
      "rebootRequired": true,
      "shortDesc": "Circuit breaker for flight termination",
      "type": "Int32"
    },
    {
      "category": "Developer",
      "default": 22027,
      "group": "Circuit Breaker",
      "longDesc": "Setting this parameter to 22027 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK",
      "max": 22027,
      "min": 0,
      "name": "CBRK_IO_SAFETY",
      "shortDesc": "Circuit breaker for IO safety",
      "type": "Int32"
    },
    {
      "category": "Developer",
      "default": 0,
      "group": "Circuit Breaker",
      "longDesc": "Setting this parameter to 894281 will disable the power valid checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK",
      "max": 894281,
      "min": 0,
      "name": "CBRK_SUPPLY_CHK",
      "shortDesc": "Circuit breaker for power supply check",
      "type": "Int32"
    },
    {
      "category": "Developer",
      "default": 197848,
      "group": "Circuit Breaker",
      "longDesc": "Setting this parameter to 197848 will disable the USB connected checks in the commander, setting it to 0 keeps them enabled (recommended). We are generally recommending to not fly with the USB link connected and production vehicles should set this parameter to zero to prevent users from flying USB powered. However, for R&D purposes it has proven over the years to work just fine.",
      "max": 197848,
      "min": 0,
      "name": "CBRK_USB_CHK",
      "shortDesc": "Circuit breaker for USB link check",
      "type": "Int32"
    },
    {
      "category": "Developer",
      "default": 0,
      "group": "Circuit Breaker",
      "longDesc": "Setting this parameter to 159753 will enable arming in fixed-wing mode for VTOLs. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK",
      "max": 159753,
      "min": 0,
      "name": "CBRK_VTOLARMING",
      "shortDesc": "Circuit breaker for arming in fixed-wing mode check",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Commander",
      "longDesc": "Note: actuator failure needs to be enabled and configured via FD_ACT_* parameters.",
      "max": 3,
      "min": 0,
      "name": "COM_ACT_FAIL_ACT",
      "shortDesc": "Set the actuator failure failsafe mode",
      "type": "Int32",
      "values": [
        {
          "description": "Warning only",
          "value": 0
        },
        {
          "description": "Hold mode",
          "value": 1
        },
        {
          "description": "Land mode",
          "value": 2
        },
        {
          "description": "Return mode",
          "value": 3
        },
        {
          "description": "Terminate",
          "value": 4
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Commander",
      "longDesc": "Set 0 to prevent accidental use of the vehicle e.g. for safety or maintenance reasons.",
      "name": "COM_ARMABLE",
      "shortDesc": "Flag to allow arming",
      "type": "Int32",
      "values": [
        {
          "description": "Disallow arming",
          "value": 0
        },
        {
          "description": "Allow arming",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Commander",
      "longDesc": "Deny arming if the current airspeed measurement is greater than half the cruise airspeed (FW_AIRSPD_TRIM). Excessive airspeed measurements on ground are either caused by wind or bad airspeed calibration.",
      "name": "COM_ARM_ARSP_EN",
      "shortDesc": "Enable preflight check for maximal allowed airspeed when arming",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 10,
      "group": "Commander",
      "longDesc": "Used if arm authorization is requested by COM_ARM_AUTH_REQ.",
      "name": "COM_ARM_AUTH_ID",
      "shortDesc": "Arm authorizer system id",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Commander",
      "longDesc": "Methods: - one arm: request authorization and arm when authorization is received - two step arm: 1st arm command request an authorization and 2nd arm command arm the drone if authorized Used if arm authorization is requested by COM_ARM_AUTH_REQ.",
      "name": "COM_ARM_AUTH_MET",
      "shortDesc": "Arm authorization method",
      "type": "Int32",
      "values": [
        {
          "description": "one arm",
          "value": 0
        },
        {
          "description": "two step arm",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Commander",
      "longDesc": "By default off. The default allows to arm the vehicle without a arm authorization.",
      "name": "COM_ARM_AUTH_REQ",
      "shortDesc": "Require arm authorization to arm",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 1.0,
      "group": "Commander",
      "increment": 0.1,
      "longDesc": "Timeout for authorizer answer. Used if arm authorization is requested by COM_ARM_AUTH_REQ.",
      "name": "COM_ARM_AUTH_TO",
      "shortDesc": "Arm authorization timeout",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Commander",
      "longDesc": "If this parameter is set, the system will check ESC's online status and failures. This param is specific for ESCs reporting status. It shall be used only if ESCs support telemetry.",
      "name": "COM_ARM_CHK_ESCS",
      "shortDesc": "Enable checks on ESCs that report telemetry",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 1.0,
      "group": "Commander",
      "increment": 0.05,
      "max": 1.0,
      "min": 0.1,
      "name": "COM_ARM_EKF_HGT",
      "shortDesc": "Maximum EKF height innovation test ratio that will allow arming",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.5,
      "group": "Commander",
      "increment": 0.05,
      "max": 1.0,
      "min": 0.1,
      "name": "COM_ARM_EKF_POS",
      "shortDesc": "Maximum EKF position innovation test ratio that will allow arming",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.5,
      "group": "Commander",
      "increment": 0.05,
      "max": 1.0,
      "min": 0.1,
      "name": "COM_ARM_EKF_VEL",
      "shortDesc": "Maximum EKF velocity innovation test ratio that will allow arming",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.5,
      "group": "Commander",
      "increment": 0.05,
      "max": 1.0,
      "min": 0.1,
      "name": "COM_ARM_EKF_YAW",
      "shortDesc": "Maximum EKF yaw innovation test ratio that will allow arming",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Commander",
      "longDesc": "This check detects if there are hardfault files present on the SD card. If so, and the parameter is enabled, arming is prevented.",
      "name": "COM_ARM_HFLT_CHK",
      "shortDesc": "Enable FMU SD card hardfault detection check",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.7,
      "group": "Commander",
      "increment": 0.05,
      "max": 1.0,
      "min": 0.1,
      "name": "COM_ARM_IMU_ACC",
      "shortDesc": "Maximum accelerometer inconsistency between IMU units that will allow arming",
      "type": "Float",
      "units": "m/s^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.25,
      "group": "Commander",
      "increment": 0.01,
      "max": 0.3,
      "min": 0.02,
      "name": "COM_ARM_IMU_GYR",
      "shortDesc": "Maximum rate gyro inconsistency between IMU units that will allow arming",
      "type": "Float",
      "units": "rad/s"
    },
    {
      "category": "Standard",
      "default": 60,
      "group": "Commander",
      "longDesc": "Set -1 to disable the check.",
      "max": 180,
      "min": 3,
      "name": "COM_ARM_MAG_ANG",
      "shortDesc": "Maximum magnetic field inconsistency between units that will allow arming",
      "type": "Int32",
      "units": "deg"
    },
    {
      "category": "Standard",
      "default": 2,
      "group": "Commander",
      "longDesc": "Check if the estimator detects a strong magnetic disturbance (check enabled by EKF2_MAG_CHECK)",
      "name": "COM_ARM_MAG_STR",
      "shortDesc": "Enable mag strength preflight check",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Deny arming",
          "value": 1
        },
        {
          "description": "Warning only",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Commander",
      "longDesc": "The default allows to arm the vehicle without a valid mission.",
      "name": "COM_ARM_MIS_REQ",
      "shortDesc": "Require valid mission to arm",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Commander",
      "longDesc": "This check detects if the Open Drone ID system is missing. Depending on the value of the parameter, the check can be disabled, warn only or deny arming.",
      "name": "COM_ARM_ODID",
      "shortDesc": "Enable Drone ID system detection and health check",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Warning only",
          "value": 1
        },
        {
          "description": "Enforce Open Drone ID system presence",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Commander",
      "longDesc": "This check detects if the FMU SD card is missing. Depending on the value of the parameter, the check can be disabled, warn only or deny arming.",
      "name": "COM_ARM_SDCARD",
      "shortDesc": "Enable FMU SD card detection check",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Warning only",
          "value": 1
        },
        {
          "description": "Enforce SD card presence",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Commander",
      "longDesc": "0: Arming/disarming triggers on switch transition. 1: Arming/disarming triggers when holding the momentary button down for COM_RC_ARM_HYST like the stick gesture.",
      "name": "COM_ARM_SWISBTN",
      "shortDesc": "Arm switch is a momentary button",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Commander",
      "longDesc": "The default allows the vehicle to arm without GPS signal.",
      "name": "COM_ARM_WO_GPS",
      "shortDesc": "Allow arming without GPS",
      "type": "Int32",
      "values": [
        {
          "description": "Require GPS lock to arm",
          "value": 0
        },
        {
          "description": "Allow arming without GPS",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 95.0,
      "group": "Commander",
      "increment": 1.0,
      "longDesc": "A negative value disables the check.",
      "max": 100.0,
      "min": -1.0,
      "name": "COM_CPU_MAX",
      "shortDesc": "Maximum allowed CPU load to still arm",
      "type": "Float",
      "units": "%"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 2.0,
      "group": "Commander",
      "increment": 0.1,
      "longDesc": "A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. A zero or negative value means that automatic disarming triggered by landing detection is disabled.",
      "name": "COM_DISARM_LAND",
      "shortDesc": "Time-out for auto disarm after landing",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 10.0,
      "group": "Commander",
      "increment": 0.1,
      "longDesc": "A non-zero, positive value specifies the time in seconds, within which the vehicle is expected to take off after arming. In case the vehicle didn't takeoff within the timeout it disarms again. A negative value disables autmoatic disarming triggered by a pre-takeoff timeout.",
      "name": "COM_DISARM_PRFLT",
      "shortDesc": "Time-out for auto disarm if not taking off",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 10,
      "group": "Commander",
      "increment": 1,
      "longDesc": "After this amount of seconds without datalink, the GCS connection lost mode triggers",
      "max": 300,
      "min": 5,
      "name": "COM_DL_LOSS_T",
      "shortDesc": "GCS connection loss time threshold",
      "type": "Int32",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 5.0,
      "group": "Commander",
      "longDesc": "Before entering failsafe (RTL, Land, Hold), wait COM_FAIL_ACT_T seconds in Hold mode for the user to realize. During that time the user cannot take over control. Afterwards the configured failsafe action is triggered and the user may take over. A zero value disables the delay and the user cannot take over via stick movements (switching modes is still allowed).",
      "max": 25.0,
      "min": 0.0,
      "name": "COM_FAIL_ACT_T",
      "shortDesc": "Delay between failsafe condition triggered and failsafe reaction",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "System",
      "default": 0,
      "group": "Commander",
      "longDesc": "This number is incremented automatically after every flight on disarming in order to remember the next flight UUID. The first flight is 0.",
      "min": 0,
      "name": "COM_FLIGHT_UUID",
      "shortDesc": "Next flight UUID",
      "type": "Int32",
      "volatile": true
    },
    {
      "category": "Standard",
      "default": -1,
      "group": "Commander",
      "longDesc": "If the main switch channel is in this range the selected flight mode will be applied.",
      "name": "COM_FLTMODE1",
      "shortDesc": "First flightmode slot (1000-1160)",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": -1
        },
        {
          "description": "Manual",
          "value": 0
        },
        {
          "description": "Altitude",
          "value": 1
        },
        {
          "description": "Position",
          "value": 2
        },
        {
          "description": "Mission",
          "value": 3
        },
        {
          "description": "Hold",
          "value": 4
        },
        {
          "description": "Return",
          "value": 5
        },
        {
          "description": "Acro",
          "value": 6
        },
        {
          "description": "Offboard",
          "value": 7
        },
        {
          "description": "Stabilized",
          "value": 8
        },
        {
          "description": "Takeoff",
          "value": 10
        },
        {
          "description": "Land",
          "value": 11
        },
        {
          "description": "Follow Me",
          "value": 12
        },
        {
          "description": "Precision Land",
          "value": 13
        }
      ]
    },
    {
      "category": "Standard",
      "default": -1,
      "group": "Commander",
      "longDesc": "If the main switch channel is in this range the selected flight mode will be applied.",
      "name": "COM_FLTMODE2",
      "shortDesc": "Second flightmode slot (1160-1320)",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": -1
        },
        {
          "description": "Manual",
          "value": 0
        },
        {
          "description": "Altitude",
          "value": 1
        },
        {
          "description": "Position",
          "value": 2
        },
        {
          "description": "Mission",
          "value": 3
        },
        {
          "description": "Hold",
          "value": 4
        },
        {
          "description": "Return",
          "value": 5
        },
        {
          "description": "Acro",
          "value": 6
        },
        {
          "description": "Offboard",
          "value": 7
        },
        {
          "description": "Stabilized",
          "value": 8
        },
        {
          "description": "Takeoff",
          "value": 10
        },
        {
          "description": "Land",
          "value": 11
        },
        {
          "description": "Follow Me",
          "value": 12
        },
        {
          "description": "Precision Land",
          "value": 13
        }
      ]
    },
    {
      "category": "Standard",
      "default": -1,
      "group": "Commander",
      "longDesc": "If the main switch channel is in this range the selected flight mode will be applied.",
      "name": "COM_FLTMODE3",
      "shortDesc": "Third flightmode slot (1320-1480)",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": -1
        },
        {
          "description": "Manual",
          "value": 0
        },
        {
          "description": "Altitude",
          "value": 1
        },
        {
          "description": "Position",
          "value": 2
        },
        {
          "description": "Mission",
          "value": 3
        },
        {
          "description": "Hold",
          "value": 4
        },
        {
          "description": "Return",
          "value": 5
        },
        {
          "description": "Acro",
          "value": 6
        },
        {
          "description": "Offboard",
          "value": 7
        },
        {
          "description": "Stabilized",
          "value": 8
        },
        {
          "description": "Takeoff",
          "value": 10
        },
        {
          "description": "Land",
          "value": 11
        },
        {
          "description": "Follow Me",
          "value": 12
        },
        {
          "description": "Precision Land",
          "value": 13
        }
      ]
    },
    {
      "category": "Standard",
      "default": -1,
      "group": "Commander",
      "longDesc": "If the main switch channel is in this range the selected flight mode will be applied.",
      "name": "COM_FLTMODE4",
      "shortDesc": "Fourth flightmode slot (1480-1640)",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": -1
        },
        {
          "description": "Manual",
          "value": 0
        },
        {
          "description": "Altitude",
          "value": 1
        },
        {
          "description": "Position",
          "value": 2
        },
        {
          "description": "Mission",
          "value": 3
        },
        {
          "description": "Hold",
          "value": 4
        },
        {
          "description": "Return",
          "value": 5
        },
        {
          "description": "Acro",
          "value": 6
        },
        {
          "description": "Offboard",
          "value": 7
        },
        {
          "description": "Stabilized",
          "value": 8
        },
        {
          "description": "Takeoff",
          "value": 10
        },
        {
          "description": "Land",
          "value": 11
        },
        {
          "description": "Follow Me",
          "value": 12
        },
        {
          "description": "Precision Land",
          "value": 13
        }
      ]
    },
    {
      "category": "Standard",
      "default": -1,
      "group": "Commander",
      "longDesc": "If the main switch channel is in this range the selected flight mode will be applied.",
      "name": "COM_FLTMODE5",
      "shortDesc": "Fifth flightmode slot (1640-1800)",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": -1
        },
        {
          "description": "Manual",
          "value": 0
        },
        {
          "description": "Altitude",
          "value": 1
        },
        {
          "description": "Position",
          "value": 2
        },
        {
          "description": "Mission",
          "value": 3
        },
        {
          "description": "Hold",
          "value": 4
        },
        {
          "description": "Return",
          "value": 5
        },
        {
          "description": "Acro",
          "value": 6
        },
        {
          "description": "Offboard",
          "value": 7
        },
        {
          "description": "Stabilized",
          "value": 8
        },
        {
          "description": "Takeoff",
          "value": 10
        },
        {
          "description": "Land",
          "value": 11
        },
        {
          "description": "Follow Me",
          "value": 12
        },
        {
          "description": "Precision Land",
          "value": 13
        }
      ]
    },
    {
      "category": "Standard",
      "default": -1,
      "group": "Commander",
      "longDesc": "If the main switch channel is in this range the selected flight mode will be applied.",
      "name": "COM_FLTMODE6",
      "shortDesc": "Sixth flightmode slot (1800-2000)",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": -1
        },
        {
          "description": "Manual",
          "value": 0
        },
        {
          "description": "Altitude",
          "value": 1
        },
        {
          "description": "Position",
          "value": 2
        },
        {
          "description": "Mission",
          "value": 3
        },
        {
          "description": "Hold",
          "value": 4
        },
        {
          "description": "Return",
          "value": 5
        },
        {
          "description": "Acro",
          "value": 6
        },
        {
          "description": "Offboard",
          "value": 7
        },
        {
          "description": "Stabilized",
          "value": 8
        },
        {
          "description": "Takeoff",
          "value": 10
        },
        {
          "description": "Land",
          "value": 11
        },
        {
          "description": "Follow Me",
          "value": 12
        },
        {
          "description": "Precision Land",
          "value": 13
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Commander",
      "longDesc": "Describes the intended use of the vehicle. Can be used by ground control software or log post processing. This param does not influence the behavior within the firmware. This means for example the control logic is independent of the setting of this param (but depends on other params).",
      "name": "COM_FLT_PROFILE",
      "shortDesc": "User Flight Profile",
      "type": "Int32",
      "values": [
        {
          "description": "Default",
          "value": 0
        },
        {
          "description": "Pro User",
          "value": 100
        },
        {
          "description": "Flight Tester",
          "value": 200
        },
        {
          "description": "Developer",
          "value": 300
        }
      ]
    },
    {
      "category": "Standard",
      "default": -1,
      "group": "Commander",
      "longDesc": "The vehicle aborts the current operation and returns to launch when the time since takeoff is above this value. It is not possible to resume the mission or switch to any auto mode other than RTL or Land. Taking over in any manual mode is still possible. Starting from 90% of the maximum flight time, a warning message will be sent every 1 minute with the remaining time until automatic RTL. Set to -1 to disable.",
      "min": -1,
      "name": "COM_FLT_TIME_MAX",
      "shortDesc": "Maximum allowed flight time",
      "type": "Int32",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Commander",
      "longDesc": "Force safety when the vehicle disarms",
      "name": "COM_FORCE_SAFETY",
      "shortDesc": "Enable force safety",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 120,
      "group": "Commander",
      "longDesc": "After this amount of seconds without datalink the data link lost mode triggers",
      "max": 3600,
      "min": 60,
      "name": "COM_HLDL_LOSS_T",
      "shortDesc": "High Latency Datalink loss time threshold",
      "type": "Int32",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Commander",
      "longDesc": "After a data link loss: after this number of seconds with a healthy datalink the 'datalink loss' flag is set back to false",
      "max": 60,
      "min": 0,
      "name": "COM_HLDL_REG_T",
      "shortDesc": "High Latency Datalink regain time threshold",
      "type": "Int32",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Commander",
      "longDesc": "Set home position automatically if possible.",
      "name": "COM_HOME_EN",
      "rebootRequired": true,
      "shortDesc": "Home position enabled",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Commander",
      "longDesc": "If set to true, the autopilot is allowed to set its home position after takeoff The true home position is back-computed if a local position is estimate if available. If no local position is available, home is set to the current position.",
      "name": "COM_HOME_IN_AIR",
      "shortDesc": "Allows setting the home position after takeoff",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Commander",
      "increment": 1,
      "longDesc": "Action the system takes when an imbalanced propeller is detected by the failure detector. See also FD_IMB_PROP_THR to set the failure threshold.",
      "name": "COM_IMB_PROP_ACT",
      "shortDesc": "Imbalanced propeller failsafe mode",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": -1
        },
        {
          "description": "Warning",
          "value": 0
        },
        {
          "description": "Return",
          "value": 1
        },
        {
          "description": "Land",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "default": 5.0,
      "group": "Commander",
      "increment": 0.1,
      "max": 30.0,
      "min": 0.0,
      "name": "COM_KILL_DISARM",
      "shortDesc": "Timeout value for disarming when kill switch is engaged",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 3.0,
      "group": "Commander",
      "longDesc": "A non-zero, positive value specifies the timeframe in seconds within failure detector is allowed to disarm the vehicle if attitude exceeds the limits defined in FD_FAIL_P and FD_FAIL_R. The check is not executed for flight modes that do support acrobatic maneuvers, e.g: Acro (MC/FW) and Manual (FW). A zero or negative value means that the check is disabled.",
      "max": 5.0,
      "min": -1.0,
      "name": "COM_LKDOWN_TKO",
      "shortDesc": "Timeout for detecting a failure after takeoff",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Commander",
      "longDesc": "Action the system takes at critical battery. See also BAT_CRIT_THR and BAT_EMERGEN_THR for definition of battery states.",
      "name": "COM_LOW_BAT_ACT",
      "shortDesc": "Battery failsafe mode",
      "type": "Int32",
      "values": [
        {
          "description": "Warning",
          "value": 0
        },
        {
          "description": "Land mode",
          "value": 2
        },
        {
          "description": "Return at critical level, land at emergency level",
          "value": 3
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Commander",
      "longDesc": "If set, enables the motor test interface via MAVLink (DO_MOTOR_TEST), that allows spinning the motors for testing purposes.",
      "name": "COM_MOT_TEST_EN",
      "shortDesc": "Enable Motor Testing",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 5.0,
      "group": "Commander",
      "increment": 0.01,
      "max": 60.0,
      "min": 0.0,
      "name": "COM_OBC_LOSS_T",
      "shortDesc": "Time-out to wait when onboard computer connection is lost before warning about loss connection",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Commander",
      "longDesc": "The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.",
      "name": "COM_OBL_RC_ACT",
      "shortDesc": "Set offboard loss failsafe mode",
      "type": "Int32",
      "values": [
        {
          "description": "Position mode",
          "value": 0
        },
        {
          "description": "Altitude mode",
          "value": 1
        },
        {
          "description": "Manual",
          "value": 2
        },
        {
          "description": "Return mode",
          "value": 3
        },
        {
          "description": "Land mode",
          "value": 4
        },
        {
          "description": "Hold mode",
          "value": 5
        },
        {
          "description": "Terminate",
          "value": 6
        },
        {
          "description": "Disarm",
          "value": 7
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Commander",
      "name": "COM_OBS_AVOID",
      "shortDesc": "Flag to enable obstacle avoidance",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "Commander",
      "increment": 0.01,
      "longDesc": "See COM_OBL_RC_ACT to configure action.",
      "max": 60.0,
      "min": 0.0,
      "name": "COM_OF_LOSS_T",
      "shortDesc": "Time-out to wait when offboard connection is lost before triggering offboard lost action",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Commander",
      "name": "COM_PARACHUTE",
      "shortDesc": "Expect and require a healthy MAVLink parachute system",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Commander",
      "longDesc": "This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control. If Altitude/Manual is selected: assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL. If Land/Descend is selected: assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to Descend.",
      "name": "COM_POSCTL_NAVL",
      "shortDesc": "Position control navigation loss response",
      "type": "Int32",
      "values": [
        {
          "description": "Altitude/Manual",
          "value": 0
        },
        {
          "description": "Land/Descend",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Commander",
      "longDesc": "This sets number of seconds that the position checks need to be failed before the failsafe will activate. The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5 and 10 should be used.",
      "max": 100,
      "min": 1,
      "name": "COM_POS_FS_DELAY",
      "shortDesc": "Loss of position failsafe activation delay",
      "type": "Int32",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "Commander",
      "longDesc": "This is the horizontal position error (EPH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing. If the previous position error was below this threshold, there is an additional factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation).",
      "min": 0.0,
      "name": "COM_POS_FS_EPH",
      "shortDesc": "Horizontal position error threshold",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": -1.0,
      "group": "Commander",
      "longDesc": "Specify the threshold for triggering a warning for low local position accuracy. Additionally triggers a RTL if currently in Mission or Loiter mode. Local position has to be still declared valid, which is most of all depending on COM_POS_FS_EPH. Use this feature on systems with dead-reckoning capabilites (e.g. fixed-wing vehicles with airspeed sensor) to improve the user notification and failure mitigation when flying in GNSS-denied areas. Set to -1 to disable.",
      "min": -1.0,
      "name": "COM_POS_LOW_EPH",
      "shortDesc": "EPH threshold for RTL",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Commander",
      "longDesc": "This configures a check to verify the expected number of 5V rail power supplies are present. By default only one is expected. Note: CBRK_SUPPLY_CHK disables all power checks including this one.",
      "max": 4,
      "min": 0,
      "name": "COM_POWER_COUNT",
      "shortDesc": "Required number of redundant power modules",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Commander",
      "longDesc": "Condition to enter the prearmed state, an intermediate state between disarmed and armed in which non-throttling actuators are active.",
      "name": "COM_PREARM_MODE",
      "shortDesc": "Condition to enter prearmed mode",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Safety button",
          "value": 1
        },
        {
          "description": "Always",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Commander",
      "name": "COM_QC_ACT",
      "shortDesc": "Set command after a quadchute",
      "type": "Int32",
      "values": [
        {
          "description": "Warning only",
          "value": -1
        },
        {
          "description": "Return mode",
          "value": 0
        },
        {
          "description": "Land mode",
          "value": 1
        },
        {
          "description": "Hold mode",
          "value": 2
        }
      ]
    },
    {
      "bitmask": [
        {
          "description": "Mission",
          "index": 0
        },
        {
          "description": "Hold",
          "index": 1
        },
        {
          "description": "Offboard",
          "index": 2
        }
      ],
      "category": "Standard",
      "default": 0,
      "group": "Commander",
      "longDesc": "Specify modes in which RC loss is ignored and the failsafe action not triggered.",
      "max": 31,
      "min": 0,
      "name": "COM_RCL_EXCEPT",
      "shortDesc": "RC loss exceptions",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 1000,
      "group": "Commander",
      "longDesc": "The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.",
      "max": 1500,
      "min": 100,
      "name": "COM_RC_ARM_HYST",
      "shortDesc": "RC input arm/disarm command duration",
      "type": "Int32",
      "units": "ms"
    },
    {
      "category": "Standard",
      "default": 3,
      "group": "Commander",
      "longDesc": "A value of 0 enables RC transmitter control (only). A valid RC transmitter calibration is required. A value of 1 allows joystick control only. RC input handling and the associated checks are disabled. A value of 2 allows either RC Transmitter or Joystick input. The first valid input is used, will fallback to other sources if the input stream becomes invalid. A value of 3 allows either input from RC or joystick. The first available source is selected and used until reboot. A value of 4 ignores any stick input.",
      "max": 4,
      "min": 0,
      "name": "COM_RC_IN_MODE",
      "shortDesc": "RC control input mode",
      "type": "Int32",
      "values": [
        {
          "description": "RC Transmitter only",
          "value": 0
        },
        {
          "description": "Joystick only",
          "value": 1
        },
        {
          "description": "RC and Joystick with fallback",
          "value": 2
        },
        {
          "description": "RC or Joystick keep first",
          "value": 3
        },
        {
          "description": "Stick input disabled",
          "value": 4
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.5,
      "group": "Commander",
      "increment": 0.1,
      "longDesc": "After this amount of seconds without RC connection it's considered lost and not used anymore",
      "max": 35.0,
      "min": 0.0,
      "name": "COM_RC_LOSS_T",
      "shortDesc": "RC loss time threshold",
      "type": "Float",
      "units": "s"
    },
    {
      "bitmask": [
        {
          "description": "Enable override during auto modes (except for in critical battery reaction)",
          "index": 0
        },
        {
          "description": "Enable override during offboard mode",
          "index": 1
        }
      ],
      "category": "Standard",
      "default": 1,
      "group": "Commander",
      "longDesc": "When RC stick override is enabled, moving the RC sticks more than COM_RC_STICK_OV immediately gives control back to the pilot by switching to Position mode and if position is unavailable Altitude mode. Note: Only has an effect on multicopters, and VTOLs in multicopter mode. This parameter is not considered in case of a GPS failure (Descend flight mode), where stick override is always enabled.",
      "max": 3,
      "min": 0,
      "name": "COM_RC_OVERRIDE",
      "shortDesc": "Enable RC stick override of auto and/or offboard modes",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "decimalPlaces": 0,
      "default": 30.0,
      "group": "Commander",
      "increment": 0.05,
      "longDesc": "If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold the autopilot the pilot takes over control.",
      "max": 80.0,
      "min": 5.0,
      "name": "COM_RC_STICK_OV",
      "shortDesc": "RC stick override threshold",
      "type": "Float",
      "units": "%"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 1.0,
      "group": "Commander",
      "increment": 0.1,
      "longDesc": "The minimal time from arming the motors until moving the vehicle is possible is COM_SPOOLUP_TIME seconds. Goal: - Motors and propellers spool up to idle speed before getting commanded to spin faster - Timeout for ESCs and smart batteries to successfulyy do failure checks e.g. for stuck rotors before the vehicle is off the ground",
      "max": 30.0,
      "min": 0.0,
      "name": "COM_SPOOLUP_TIME",
      "shortDesc": "Enforced delay between arming and further navigation",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Commander",
      "longDesc": "The mode transition after TAKEOFF has completed successfully.",
      "name": "COM_TAKEOFF_ACT",
      "shortDesc": "Action after TAKEOFF has been accepted",
      "type": "Int32",
      "values": [
        {
          "description": "Hold",
          "value": 0
        },
        {
          "description": "Mission (if valid)",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 1.0,
      "group": "Commander",
      "longDesc": "This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing. If the previous velocity error was below this threshold, there is an additional factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation).",
      "min": 0.0,
      "name": "COM_VEL_FS_EVH",
      "shortDesc": "Horizontal velocity error threshold",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": -1.0,
      "group": "Commander",
      "increment": 0.1,
      "longDesc": "Wind speed threshold above which an automatic return to launch is triggered. It is not possible to resume the mission or switch to any auto mode other than RTL or Land if this threshold is exceeded. Taking over in any manual mode is still possible. Set to -1 to disable.",
      "min": -1.0,
      "name": "COM_WIND_MAX",
      "shortDesc": "Wind speed RTL threshold",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": -1.0,
      "group": "Commander",
      "increment": 0.1,
      "longDesc": "A warning is triggered if the currently estimated wind speed is above this value. Warning is sent periodically (every 1 minute). Set to -1 to disable.",
      "min": -1.0,
      "name": "COM_WIND_WARN",
      "shortDesc": "Wind speed warning threshold",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Commander",
      "longDesc": "The GCS connection loss failsafe will only be entered after a timeout, set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected action will be executed.",
      "max": 6,
      "min": 0,
      "name": "NAV_DLL_ACT",
      "shortDesc": "Set GCS connection loss failsafe mode",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Hold mode",
          "value": 1
        },
        {
          "description": "Return mode",
          "value": 2
        },
        {
          "description": "Land mode",
          "value": 3
        },
        {
          "description": "Terminate",
          "value": 5
        },
        {
          "description": "Disarm",
          "value": 6
        }
      ]
    },
    {
      "category": "Standard",
      "default": 2,
      "group": "Commander",
      "longDesc": "The RC loss failsafe will only be entered after a timeout, set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled by setting the COM_RC_IN_MODE param it will not be triggered.",
      "max": 6,
      "min": 1,
      "name": "NAV_RCL_ACT",
      "shortDesc": "Set RC loss failsafe mode",
      "type": "Int32",
      "values": [
        {
          "description": "Hold mode",
          "value": 1
        },
        {
          "description": "Return mode",
          "value": 2
        },
        {
          "description": "Land mode",
          "value": 3
        },
        {
          "description": "Terminate",
          "value": 5
        },
        {
          "description": "Disarm",
          "value": 6
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.2,
      "group": "EKF2",
      "max": 0.5,
      "min": 0.0,
      "name": "EKF2_ABIAS_INIT",
      "rebootRequired": true,
      "shortDesc": "1-sigma IMU accelerometer switch-on bias",
      "type": "Float",
      "units": "m/s^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 25.0,
      "group": "EKF2",
      "longDesc": "If the magnitude of the IMU accelerometer vector exceeds this value, the EKF delta velocity state estimation will be inhibited. This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the delta velocity bias estimates.",
      "max": 200.0,
      "min": 20.0,
      "name": "EKF2_ABL_ACCLIM",
      "shortDesc": "Maximum IMU accel magnitude that allows IMU bias learning",
      "type": "Float",
      "units": "m/s^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 3.0,
      "group": "EKF2",
      "longDesc": "If the magnitude of the IMU angular rate vector exceeds this value, the EKF delta velocity state estimation will be inhibited. This reduces the adverse effect of rapid rotation rates and associated errors on the delta velocity bias estimates.",
      "max": 20.0,
      "min": 2.0,
      "name": "EKF2_ABL_GYRLIM",
      "shortDesc": "Maximum IMU gyro angular rate magnitude that allows IMU bias learning",
      "type": "Float",
      "units": "rad/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.4,
      "group": "EKF2",
      "longDesc": "The ekf delta velocity bias states will be limited to within a range equivalent to +- of this value.",
      "max": 0.8,
      "min": 0.0,
      "name": "EKF2_ABL_LIM",
      "shortDesc": "Accelerometer bias learning limit",
      "type": "Float",
      "units": "m/s^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.5,
      "group": "EKF2",
      "longDesc": "The vector magnitude of angular rate and acceleration used to check if learning should be inhibited has a peak hold filter applied to it with an exponential decay. This parameter controls the time constant of the decay.",
      "max": 1.0,
      "min": 0.1,
      "name": "EKF2_ABL_TAU",
      "shortDesc": "Time constant used by acceleration and angular rate magnitude checks used to inhibit delta velocity bias learning",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 6,
      "default": 0.003,
      "group": "EKF2",
      "max": 0.01,
      "min": 0.0,
      "name": "EKF2_ACC_B_NOISE",
      "shortDesc": "Process noise for IMU accelerometer bias prediction",
      "type": "Float",
      "units": "m/s^3"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.35,
      "group": "EKF2",
      "max": 1.0,
      "min": 0.01,
      "name": "EKF2_ACC_NOISE",
      "shortDesc": "Accelerometer noise for covariance prediction",
      "type": "Float",
      "units": "m/s^2"
    },
    {
      "bitmask": [
        {
          "description": "unused",
          "index": 0
        },
        {
          "description": "unused",
          "index": 1
        },
        {
          "description": "unused",
          "index": 2
        },
        {
          "description": "unused",
          "index": 3
        },
        {
          "description": "unused",
          "index": 4
        },
        {
          "description": "unused",
          "index": 5
        },
        {
          "description": "unused",
          "index": 6
        },
        {
          "description": "unused",
          "index": 7
        },
        {
          "description": "unused",
          "index": 8
        }
      ],
      "category": "Standard",
      "default": 0,
      "group": "EKF2",
      "longDesc": "Set bits in the following positions to enable: 0 : Deprecated, use EKF2_GPS_CTRL instead 1 : Deprecated. use EKF2_OF_CTRL instead 2 : Deprecated, use EKF2_IMU_CTRL instead 3 : Deprecated, use EKF2_EV_CTRL instead 4 : Deprecated, use EKF2_EV_CTRL instead 5 : Deprecated. use EKF2_DRAG_CTRL instead 6 : Deprecated, use EKF2_EV_CTRL instead 7 : Deprecated, use EKF2_GPS_CTRL instead 8 : Deprecated, use EKF2_EV_CTRL instead",
      "max": 511,
      "min": 0,
      "name": "EKF2_AID_MASK",
      "rebootRequired": true,
      "shortDesc": "Will be removed after v1.14 release",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.1,
      "group": "EKF2",
      "max": 0.5,
      "min": 0.0,
      "name": "EKF2_ANGERR_INIT",
      "rebootRequired": true,
      "shortDesc": "1-sigma tilt angle uncertainty after gravity vector alignment",
      "type": "Float",
      "units": "rad"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.0,
      "group": "EKF2",
      "longDesc": "A value of zero will deactivate airspeed fusion. Any other positive value will determine the minimum airspeed which will still be fused. Set to about 90% of the vehicles stall speed. Both airspeed fusion and sideslip fusion must be active for the EKF to continue navigating after loss of GPS. Use EKF2_FUSE_BETA to activate sideslip fusion. Note: side slip fusion is currently not supported for tailsitters.",
      "min": 0.0,
      "name": "EKF2_ARSP_THR",
      "shortDesc": "Airspeed fusion threshold",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 20.0,
      "group": "EKF2",
      "max": 50.0,
      "min": 5.0,
      "name": "EKF2_ASPD_MAX",
      "shortDesc": "Upper limit on airspeed along individual axes used to correct baro for position error effects",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 100.0,
      "group": "EKF2",
      "max": 300.0,
      "min": 0.0,
      "name": "EKF2_ASP_DELAY",
      "rebootRequired": true,
      "shortDesc": "Airspeed measurement delay relative to IMU measurements",
      "type": "Float",
      "units": "ms"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "EKF2",
      "max": 300.0,
      "min": 0.0,
      "name": "EKF2_AVEL_DELAY",
      "rebootRequired": true,
      "shortDesc": "Auxiliary Velocity Estimate (e.g from a landing target) delay relative to IMU measurements",
      "type": "Float",
      "units": "ms"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "EKF2",
      "longDesc": "If this parameter is enabled then the estimator will make use of the barometric height measurements to estimate its height in addition to other height sources (if activated).",
      "name": "EKF2_BARO_CTRL",
      "shortDesc": "Barometric sensor height aiding",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.0,
      "group": "EKF2",
      "max": 300.0,
      "min": 0.0,
      "name": "EKF2_BARO_DELAY",
      "rebootRequired": true,
      "shortDesc": "Barometer measurement delay relative to IMU measurements",
      "type": "Float",
      "units": "ms"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "EKF2",
      "longDesc": "Sets the number of standard deviations used by the innovation consistency test.",
      "min": 1.0,
      "name": "EKF2_BARO_GATE",
      "shortDesc": "Gate size for barometric and GPS height fusion",
      "type": "Float",
      "units": "SD"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 3.5,
      "group": "EKF2",
      "max": 15.0,
      "min": 0.01,
      "name": "EKF2_BARO_NOISE",
      "shortDesc": "Measurement noise for barometric altitude",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 100.0,
      "group": "EKF2",
      "longDesc": "This parameter controls the prediction of drag produced by bluff body drag along the forward/reverse axis when flying a multi-copter which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed squared. The predicted drag from the rotors is specified separately by the EKF2_MCOEF parameter. Set this parameter to zero to turn off the bluff body drag model for this axis.",
      "max": 200.0,
      "min": 0.0,
      "name": "EKF2_BCOEF_X",
      "shortDesc": "X-axis ballistic coefficient used for multi-rotor wind estimation",
      "type": "Float",
      "units": "kg/m^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 100.0,
      "group": "EKF2",
      "longDesc": "This parameter controls the prediction of drag produced by bluff body drag along the right/left axis when flying a multi-copter, which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed squared. The predicted drag from the rotors is specified separately by the EKF2_MCOEF parameter. Set this parameter to zero to turn off the bluff body drag model for this axis.",
      "max": 200.0,
      "min": 0.0,
      "name": "EKF2_BCOEF_Y",
      "shortDesc": "Y-axis ballistic coefficient used for multi-rotor wind estimation",
      "type": "Float",
      "units": "kg/m^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "EKF2",
      "longDesc": "Sets the number of standard deviations used by the innovation consistency test.",
      "min": 1.0,
      "name": "EKF2_BETA_GATE",
      "shortDesc": "Gate size for synthetic sideslip fusion",
      "type": "Float",
      "units": "SD"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.3,
      "group": "EKF2",
      "max": 1.0,
      "min": 0.1,
      "name": "EKF2_BETA_NOISE",
      "shortDesc": "Noise for synthetic sideslip fusion",
      "type": "Float",
      "units": "m/s"
    },
    {
      "bitmask": [
        {
          "description": "use geo_lookup declination",
          "index": 0
        },
        {
          "description": "save EKF2_MAG_DECL on disarm",
          "index": 1
        },
        {
          "description": "use declination as an observation",
          "index": 2
        }
      ],
      "category": "Standard",
      "default": 7,
      "group": "EKF2",
      "longDesc": "Set bits in the following positions to enable functions. 0 : Set to true to use the declination from the geo_lookup library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value. 1 : Set to true to save the EKF2_MAG_DECL parameter to the value returned by the EKF when the vehicle disarms. 2 : Set to true to always use the declination as an observation when 3-axis magnetometer fusion is being used.",
      "max": 7,
      "min": 0,
      "name": "EKF2_DECL_TYPE",
      "rebootRequired": true,
      "shortDesc": "Integer bitmask controlling handling of magnetic declination",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "EKF2",
      "longDesc": "Activate wind speed estimation using specific-force measurements and a drag model defined by EKF2_BCOEF_[XY] and EKF2_MCOEF. Only use on vehicles that have their thrust aligned with the Z axis and no thrust in the XY plane.",
      "name": "EKF2_DRAG_CTRL",
      "shortDesc": "Multirotor wind estimation selection",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 2.5,
      "group": "EKF2",
      "longDesc": "Increasing this makes the multi-rotor wind estimates adjust more slowly.",
      "max": 10.0,
      "min": 0.5,
      "name": "EKF2_DRAG_NOISE",
      "shortDesc": "Specific drag force observation noise variance used by the multi-rotor specific drag force model",
      "type": "Float",
      "units": "(m/s^2)^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 1.4,
      "group": "EKF2",
      "max": 5.0,
      "min": 0.5,
      "name": "EKF2_EAS_NOISE",
      "shortDesc": "Measurement noise for airspeed fusion",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.1,
      "group": "EKF2",
      "min": 0.05,
      "name": "EKF2_EVA_NOISE",
      "shortDesc": "Measurement noise for vision angle observations used to lower bound or replace the uncertainty included in the message",
      "type": "Float",
      "units": "rad"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "EKF2",
      "longDesc": "Sets the number of standard deviations used by the innovation consistency test.",
      "min": 1.0,
      "name": "EKF2_EVP_GATE",
      "shortDesc": "Gate size for vision position fusion",
      "type": "Float",
      "units": "SD"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.1,
      "group": "EKF2",
      "min": 0.01,
      "name": "EKF2_EVP_NOISE",
      "shortDesc": "Measurement noise for vision position observations used to lower bound or replace the uncertainty included in the message",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 3.0,
      "group": "EKF2",
      "longDesc": "Sets the number of standard deviations used by the innovation consistency test.",
      "min": 1.0,
      "name": "EKF2_EVV_GATE",
      "shortDesc": "Gate size for vision velocity estimate fusion",
      "type": "Float",
      "units": "SD"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.1,
      "group": "EKF2",
      "min": 0.01,
      "name": "EKF2_EVV_NOISE",
      "shortDesc": "Measurement noise for vision velocity observations used to lower bound or replace the uncertainty included in the message",
      "type": "Float",
      "units": "m/s"
    },
    {
      "bitmask": [
        {
          "description": "Horizontal position",
          "index": 0
        },
        {
          "description": "Vertical position",
          "index": 1
        },
        {
          "description": "3D velocity",
          "index": 2
        },
        {
          "description": "Yaw",
          "index": 3
        }
      ],
      "category": "Standard",
      "default": 15,
      "group": "EKF2",
      "longDesc": "Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion 2 : 3D velocity fusion 3 : Yaw",
      "max": 15,
      "min": 0,
      "name": "EKF2_EV_CTRL",
      "shortDesc": "External vision (EV) sensor aiding",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.0,
      "group": "EKF2",
      "max": 300.0,
      "min": 0.0,
      "name": "EKF2_EV_DELAY",
      "rebootRequired": true,
      "shortDesc": "Vision Position Estimator delay relative to IMU measurements",
      "type": "Float",
      "units": "ms"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "EKF2",
      "longDesc": "If set to 0 (default) the measurement noise is taken from the vision message and the EV noise parameters are used as a lower bound. If set to 1 the observation noise is set from the parameters directly,",
      "name": "EKF2_EV_NOISE_MD",
      "shortDesc": "External vision (EV) noise mode",
      "type": "Int32",
      "values": [
        {
          "description": "EV reported variance (parameter lower bound)",
          "value": 0
        },
        {
          "description": "EV noise parameters",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "EKF2",
      "name": "EKF2_EV_POS_X",
      "shortDesc": "X position of VI sensor focal point in body frame (forward axis with origin relative to vehicle centre of gravity)",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "EKF2",
      "name": "EKF2_EV_POS_Y",
      "shortDesc": "Y position of VI sensor focal point in body frame (right axis with origin relative to vehicle centre of gravity)",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "EKF2",
      "name": "EKF2_EV_POS_Z",
      "shortDesc": "Z position of VI sensor focal point in body frame (down axis with origin relative to vehicle centre of gravity)",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0,
      "group": "EKF2",
      "longDesc": "External vision will only be started and fused if the quality metric is above this threshold. The quality metric is a completely optional field provided by some VIO systems.",
      "max": 100,
      "min": 0,
      "name": "EKF2_EV_QMIN",
      "shortDesc": "External vision (EV) minimum quality (optional)",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "EKF2",
      "longDesc": "A value of 1 indicates that fusion is active Both  sideslip fusion and airspeed fusion must be active for the EKF to continue navigating after loss of GPS. Use EKF2_ARSP_THR to activate airspeed fusion.",
      "name": "EKF2_FUSE_BETA",
      "shortDesc": "Boolean determining if synthetic sideslip measurements should fused",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.1,
      "group": "EKF2",
      "max": 0.2,
      "min": 0.0,
      "name": "EKF2_GBIAS_INIT",
      "rebootRequired": true,
      "shortDesc": "1-sigma IMU gyro switch-on bias",
      "type": "Float",
      "units": "rad/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 4.0,
      "group": "EKF2",
      "longDesc": "Sets the value of deadzone applied to negative baro innovations. Deadzone is enabled when EKF2_GND_EFF_DZ > 0.",
      "max": 10.0,
      "min": 0.0,
      "name": "EKF2_GND_EFF_DZ",
      "shortDesc": "Baro deadzone range for height fusion",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.5,
      "group": "EKF2",
      "longDesc": "Sets the maximum distance to the ground level where negative baro innovations are expected.",
      "max": 5.0,
      "min": 0.0,
      "name": "EKF2_GND_MAX_HGT",
      "shortDesc": "Height above ground level for ground effect zone",
      "type": "Float",
      "units": "m"
    },
    {
      "bitmask": [
        {
          "description": "Min sat count (EKF2_REQ_NSATS)",
          "index": 0
        },
        {
          "description": "Max PDOP (EKF2_REQ_PDOP)",
          "index": 1
        },
        {
          "description": "Max horizontal position error (EKF2_REQ_EPH)",
          "index": 2
        },
        {
          "description": "Max vertical position error (EKF2_REQ_EPV)",
          "index": 3
        },
        {
          "description": "Max speed error (EKF2_REQ_SACC)",
          "index": 4
        },
        {
          "description": "Max horizontal position rate (EKF2_REQ_HDRIFT)",
          "index": 5
        },
        {
          "description": "Max vertical position rate (EKF2_REQ_VDRIFT)",
          "index": 6
        },
        {
          "description": "Max horizontal speed (EKF2_REQ_HDRIFT)",
          "index": 7
        },
        {
          "description": "Max vertical velocity discrepancy (EKF2_REQ_VDRIFT)",
          "index": 8
        }
      ],
      "category": "Standard",
      "default": 245,
      "group": "EKF2",
      "longDesc": "Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Minimum required sat count set by EKF2_REQ_NSATS 1 : Maximum allowed PDOP set by EKF2_REQ_PDOP 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV 4 : Maximum allowed speed error set by EKF2_REQ_SACC 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check will only run when the vehicle is on ground and stationary. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT",
      "max": 511,
      "min": 0,
      "name": "EKF2_GPS_CHECK",
      "shortDesc": "Integer bitmask controlling GPS checks",
      "type": "Int32"
    },
    {
      "bitmask": [
        {
          "description": "Lon/lat",
          "index": 0
        },
        {
          "description": "Altitude",
          "index": 1
        },
        {
          "description": "3D velocity",
          "index": 2
        },
        {
          "description": "Dual antenna heading",
          "index": 3
        }
      ],
      "category": "Standard",
      "default": 7,
      "group": "EKF2",
      "longDesc": "Set bits in the following positions to enable: 0 : Longitude and latitude fusion 1 : Altitude fusion 2 : 3D velocity fusion 3 : Dual antenna heading fusion",
      "max": 15,
      "min": 0,
      "name": "EKF2_GPS_CTRL",
      "shortDesc": "GNSS sensor aiding",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 110.0,
      "group": "EKF2",
      "max": 300.0,
      "min": 0.0,
      "name": "EKF2_GPS_DELAY",
      "rebootRequired": true,
      "shortDesc": "GPS measurement delay relative to IMU measurements",
      "type": "Float",
      "units": "ms"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "EKF2",
      "name": "EKF2_GPS_POS_X",
      "shortDesc": "X position of GPS antenna in body frame (forward axis with origin relative to vehicle centre of gravity)",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "EKF2",
      "name": "EKF2_GPS_POS_Y",
      "shortDesc": "Y position of GPS antenna in body frame (right axis with origin relative to vehicle centre of gravity)",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "EKF2",
      "name": "EKF2_GPS_POS_Z",
      "shortDesc": "Z position of GPS antenna in body frame (down axis with origin relative to vehicle centre of gravity)",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "EKF2",
      "longDesc": "Sets the number of standard deviations used by the innovation consistency test.",
      "min": 1.0,
      "name": "EKF2_GPS_P_GATE",
      "shortDesc": "Gate size for GPS horizontal position fusion",
      "type": "Float",
      "units": "SD"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.5,
      "group": "EKF2",
      "max": 10.0,
      "min": 0.01,
      "name": "EKF2_GPS_P_NOISE",
      "shortDesc": "Measurement noise for gps position",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "EKF2",
      "longDesc": "Sets the number of standard deviations used by the innovation consistency test.",
      "min": 1.0,
      "name": "EKF2_GPS_V_GATE",
      "shortDesc": "Gate size for GPS velocity fusion",
      "type": "Float",
      "units": "SD"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.3,
      "group": "EKF2",
      "max": 5.0,
      "min": 0.01,
      "name": "EKF2_GPS_V_NOISE",
      "shortDesc": "Measurement noise for gps horizontal velocity",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 1.0,
      "group": "EKF2",
      "max": 10.0,
      "min": 0.1,
      "name": "EKF2_GRAV_NOISE",
      "shortDesc": "Accelerometer measurement noise for gravity based observations",
      "type": "Float",
      "units": "m/s^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 15.0,
      "group": "EKF2",
      "longDesc": "If no airspeed measurements are available, the EKF-GSF AHRS calculation will assume this value of true airspeed when compensating for centripetal acceleration during turns. Set to zero to disable centripetal acceleration compensation during fixed wing flight modes.",
      "max": 100.0,
      "min": 0.0,
      "name": "EKF2_GSF_TAS",
      "shortDesc": "Default value of true airspeed used in EKF-GSF AHRS calculation",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.15,
      "group": "EKF2",
      "longDesc": "The ekf delta angle bias states will be limited to within a range equivalent to +- of this value.",
      "max": 0.4,
      "min": 0.0,
      "name": "EKF2_GYR_B_LIM",
      "shortDesc": "Gyro bias learning limit",
      "type": "Float",
      "units": "rad/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 6,
      "default": 0.001,
      "group": "EKF2",
      "max": 0.01,
      "min": 0.0,
      "name": "EKF2_GYR_B_NOISE",
      "shortDesc": "Process noise for IMU rate gyro bias prediction",
      "type": "Float",
      "units": "rad/s^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 4,
      "default": 0.015,
      "group": "EKF2",
      "max": 0.1,
      "min": 0.0001,
      "name": "EKF2_GYR_NOISE",
      "shortDesc": "Rate gyro noise for covariance prediction",
      "type": "Float",
      "units": "rad/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 2.6,
      "group": "EKF2",
      "longDesc": "Sets the number of standard deviations used by the innovation consistency test.",
      "min": 1.0,
      "name": "EKF2_HDG_GATE",
      "shortDesc": "Gate size for heading fusion",
      "type": "Float",
      "units": "SD"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.3,
      "group": "EKF2",
      "max": 1.0,
      "min": 0.01,
      "name": "EKF2_HEAD_NOISE",
      "shortDesc": "Measurement noise for magnetic heading fusion",
      "type": "Float",
      "units": "rad"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "EKF2",
      "longDesc": "When multiple height sources are enabled at the same time, the height estimate will always converge towards the reference height source selected by this parameter. The range sensor and vision options should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.",
      "name": "EKF2_HGT_REF",
      "rebootRequired": true,
      "shortDesc": "Determines the reference source of height data used by the EKF",
      "type": "Int32",
      "values": [
        {
          "description": "Barometric pressure",
          "value": 0
        },
        {
          "description": "GPS",
          "value": 1
        },
        {
          "description": "Range sensor",
          "value": 2
        },
        {
          "description": "Vision",
          "value": 3
        }
      ]
    },
    {
      "bitmask": [
        {
          "description": "Gyro Bias",
          "index": 0
        },
        {
          "description": "Accel Bias",
          "index": 1
        },
        {
          "description": "Gravity vector fusion",
          "index": 2
        }
      ],
      "category": "Standard",
      "default": 3,
      "group": "EKF2",
      "max": 7,
      "min": 0,
      "name": "EKF2_IMU_CTRL",
      "shortDesc": "IMU control",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "EKF2",
      "name": "EKF2_IMU_POS_X",
      "shortDesc": "X position of IMU in body frame (forward axis with origin relative to vehicle centre of gravity)",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "EKF2",
      "name": "EKF2_IMU_POS_Y",
      "shortDesc": "Y position of IMU in body frame (right axis with origin relative to vehicle centre of gravity)",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "EKF2",
      "name": "EKF2_IMU_POS_Z",
      "shortDesc": "Z position of IMU in body frame (down axis with origin relative to vehicle centre of gravity)",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.5,
      "group": "EKF2",
      "longDesc": "This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered horizontal acceleration is greater than this parameter value, then the EKF will use 3-axis magnetometer fusion.",
      "max": 5.0,
      "min": 0.0,
      "name": "EKF2_MAG_ACCLIM",
      "shortDesc": "Horizontal acceleration threshold used by automatic selection of magnetometer fusion method",
      "type": "Float",
      "units": "m/s^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 6,
      "default": 0.0001,
      "group": "EKF2",
      "max": 0.1,
      "min": 0.0,
      "name": "EKF2_MAG_B_NOISE",
      "shortDesc": "Process noise for body magnetic field prediction",
      "type": "Float",
      "units": "gauss/s"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "EKF2",
      "longDesc": "When set, the EKF checks the strength of the magnetic field to decide whether the magnetometer data is valid. If GPS data is received, the magnetic field is compared to a World Magnetic Model (WMM), otherwise an average value is used. This check is useful to reject occasional hard iron disturbance.",
      "name": "EKF2_MAG_CHECK",
      "shortDesc": "Magnetic field strength test selection",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "System",
      "decimalPlaces": 1,
      "default": 0.0,
      "group": "EKF2",
      "name": "EKF2_MAG_DECL",
      "shortDesc": "Magnetic declination",
      "type": "Float",
      "units": "deg",
      "volatile": true
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.0,
      "group": "EKF2",
      "max": 300.0,
      "min": 0.0,
      "name": "EKF2_MAG_DELAY",
      "rebootRequired": true,
      "shortDesc": "Magnetometer measurement delay relative to IMU measurements",
      "type": "Float",
      "units": "ms"
    },
    {
      "category": "Standard",
      "decimalPlaces": 6,
      "default": 0.001,
      "group": "EKF2",
      "max": 0.1,
      "min": 0.0,
      "name": "EKF2_MAG_E_NOISE",
      "shortDesc": "Process noise for earth magnetic field prediction",
      "type": "Float",
      "units": "gauss/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 3.0,
      "group": "EKF2",
      "longDesc": "Sets the number of standard deviations used by the innovation consistency test.",
      "min": 1.0,
      "name": "EKF2_MAG_GATE",
      "shortDesc": "Gate size for magnetometer XYZ component fusion",
      "type": "Float",
      "units": "SD"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.05,
      "group": "EKF2",
      "max": 1.0,
      "min": 0.001,
      "name": "EKF2_MAG_NOISE",
      "shortDesc": "Measurement noise for magnetometer 3-axis fusion",
      "type": "Float",
      "units": "gauss"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "EKF2",
      "longDesc": "Integer controlling the type of magnetometer fusion used - magnetic heading or 3-component vector. The fusion of magnetometer data as a three component vector enables vehicle body fixed hard iron errors to be learned, but requires a stable earth field. If set to 'Automatic' magnetic heading fusion is used when on-ground and 3-axis magnetic field fusion in-flight with fallback to magnetic heading fusion if there is insufficient motion to make yaw or magnetic field states observable. If set to 'Magnetic heading' magnetic heading fusion is used at all times. If set to '3-axis' 3-axis field fusion is used at all times. If set to 'VTOL custom' the behaviour is the same as 'Automatic', but if fusing airspeed, magnetometer fusion is only allowed to modify the magnetic field states. This can be used by VTOL platforms with large magnetic field disturbances to prevent incorrect bias states being learned during forward flight operation which can adversely affect estimation accuracy after transition to hovering flight. If set to 'MC custom' the behaviour is the same as 'Automatic, but if there are no earth frame position or velocity observations being used, the magnetometer will not be used. This enables vehicles to operate with no GPS in environments where the magnetic field cannot be used to provide a heading reference. Prior to flight, the yaw angle is assumed to be constant if movement tests indicate that the vehicle is static. This allows the vehicle to be placed on the ground to learn the yaw gyro bias prior to flight. If set to 'None' the magnetometer will not be used under any circumstance. If no external source of yaw is available, it is possible to use post-takeoff horizontal movement combined with GPS velocity measurements to align the yaw angle with the timer required (depending on the amount of movement and GPS data quality).",
      "name": "EKF2_MAG_TYPE",
      "rebootRequired": true,
      "shortDesc": "Type of magnetometer fusion",
      "type": "Int32",
      "values": [
        {
          "description": "Automatic",
          "value": 0
        },
        {
          "description": "Magnetic heading",
          "value": 1
        },
        {
          "description": "3-axis",
          "value": 2
        },
        {
          "description": "VTOL custom",
          "value": 3
        },
        {
          "description": "MC custom",
          "value": 4
        },
        {
          "description": "None",
          "value": 5
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.2,
      "group": "EKF2",
      "longDesc": "This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered yaw rate is greater than this parameter value, then the EKF will use 3-axis magnetometer fusion.",
      "max": 1.0,
      "min": 0.0,
      "name": "EKF2_MAG_YAWLIM",
      "shortDesc": "Yaw rate threshold used by automatic selection of magnetometer fusion method",
      "type": "Float",
      "units": "rad/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.15,
      "group": "EKF2",
      "longDesc": "This parameter controls the prediction of drag produced by the propellers when flying a multi-copter, which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the propeller axis of rotation is lost when passing through the rotor disc. This  changes the momentum of the flow which creates a drag reaction force. When comparing un-ducted propellers of the same diameter, the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with propeller selection. Momentum drag is significantly higher for ducted rotors. To account for the drag produced by the body which scales with speed squared, see documentation for the EKF2_BCOEF_X and EKF2_BCOEF_Y parameters. Set this parameter to zero to turn off the momentum drag model for both axis.",
      "max": 1.0,
      "min": 0.0,
      "name": "EKF2_MCOEF",
      "shortDesc": "Propeller momentum drag coefficient used for multi-rotor wind estimation",
      "type": "Float",
      "units": "1/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.1,
      "group": "EKF2",
      "longDesc": "If the vehicle is on ground, is not moving as determined by the motion test and the range finder is returning invalid or no data, then an assumed range value of EKF2_MIN_RNG will be used by the terrain estimator so that a terrain height estimate is available at the start of flight in situations where the range finder may be inside its minimum measurements distance when on ground.",
      "min": 0.01,
      "name": "EKF2_MIN_RNG",
      "shortDesc": "Expected range finder reading when on ground",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "EKF2",
      "longDesc": "Maximum number of IMUs to use for Multi-EKF. Set 0 to disable. Requires SENS_IMU_MODE 0.",
      "max": 4,
      "min": 0,
      "name": "EKF2_MULTI_IMU",
      "rebootRequired": true,
      "shortDesc": "Multi-EKF IMUs",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "EKF2",
      "longDesc": "Maximum number of magnetometers to use for Multi-EKF. Set 0 to disable. Requires SENS_MAG_MODE 0.",
      "max": 4,
      "min": 0,
      "name": "EKF2_MULTI_MAG",
      "rebootRequired": true,
      "shortDesc": "Multi-EKF Magnetometers",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 10.0,
      "group": "EKF2",
      "max": 50.0,
      "min": 0.5,
      "name": "EKF2_NOAID_NOISE",
      "shortDesc": "Measurement noise for non-aiding position hold",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 5000000,
      "group": "EKF2",
      "max": 10000000,
      "min": 500000,
      "name": "EKF2_NOAID_TOUT",
      "shortDesc": "Maximum lapsed time from last fusion of measurements that constrain velocity drift before the EKF will report the horizontal nav solution as invalid",
      "type": "Int32",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "EKF2",
      "longDesc": "Enable optical flow fusion.",
      "name": "EKF2_OF_CTRL",
      "shortDesc": "Optical flow aiding",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 20.0,
      "group": "EKF2",
      "longDesc": "Assumes measurement is timestamped at trailing edge of integration period",
      "max": 300.0,
      "min": 0.0,
      "name": "EKF2_OF_DELAY",
      "rebootRequired": true,
      "shortDesc": "Optical flow measurement delay relative to IMU measurements",
      "type": "Float",
      "units": "ms"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 3.0,
      "group": "EKF2",
      "longDesc": "Sets the number of standard deviations used by the innovation consistency test.",
      "min": 1.0,
      "name": "EKF2_OF_GATE",
      "shortDesc": "Gate size for optical flow fusion",
      "type": "Float",
      "units": "SD"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.5,
      "group": "EKF2",
      "longDesc": "(when it's reported quality metric is at the minimum set by EKF2_OF_QMIN). The following condition must be met: EKF2_OF_N_MAXN >= EKF2_OF_N_MIN",
      "min": 0.05,
      "name": "EKF2_OF_N_MAX",
      "shortDesc": "Measurement noise for the optical flow sensor",
      "type": "Float",
      "units": "rad/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.15,
      "group": "EKF2",
      "min": 0.05,
      "name": "EKF2_OF_N_MIN",
      "shortDesc": "Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum",
      "type": "Float",
      "units": "rad/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "EKF2",
      "name": "EKF2_OF_POS_X",
      "shortDesc": "X position of optical flow focal point in body frame (forward axis with origin relative to vehicle centre of gravity)",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "EKF2",
      "name": "EKF2_OF_POS_Y",
      "shortDesc": "Y position of optical flow focal point in body frame (right axis with origin relative to vehicle centre of gravity)",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "EKF2",
      "name": "EKF2_OF_POS_Z",
      "shortDesc": "Z position of optical flow focal point in body frame (down axis with origin relative to vehicle centre of gravity)",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "EKF2",
      "max": 255,
      "min": 0,
      "name": "EKF2_OF_QMIN",
      "shortDesc": "Optical Flow data will only be used if the sensor reports a quality metric >= EKF2_OF_QMIN",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "EKF2",
      "longDesc": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number.",
      "max": 0.5,
      "min": -0.5,
      "name": "EKF2_PCOEF_XN",
      "shortDesc": "Static pressure position error coefficient for the negative X axis",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "EKF2",
      "longDesc": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forward flight, then this will be a negative number.",
      "max": 0.5,
      "min": -0.5,
      "name": "EKF2_PCOEF_XP",
      "shortDesc": "Static pressure position error coefficient for the positive X axis",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "EKF2",
      "longDesc": "This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the negative Y (LH) body axis. If the baro height estimate rises during sideways flight to the left, then this will be a negative number.",
      "max": 0.5,
      "min": -0.5,
      "name": "EKF2_PCOEF_YN",
      "shortDesc": "Pressure position error coefficient for the negative Y axis",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "EKF2",
      "longDesc": "This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the positive Y (RH) body axis. If the baro height estimate rises during sideways flight to the right, then this will be a negative number.",
      "max": 0.5,
      "min": -0.5,
      "name": "EKF2_PCOEF_YP",
      "shortDesc": "Pressure position error coefficient for the positive Y axis",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "EKF2",
      "longDesc": "This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the Z body axis.",
      "max": 0.5,
      "min": -0.5,
      "name": "EKF2_PCOEF_Z",
      "shortDesc": "Static pressure position error coefficient for the Z axis",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 10000,
      "group": "EKF2",
      "longDesc": "EKF prediction period in microseconds. This should ideally be an integer multiple of the IMU time delta. Actual filter update will be an integer multiple of IMU update.",
      "max": 20000,
      "min": 1000,
      "name": "EKF2_PREDICT_US",
      "shortDesc": "EKF prediction period",
      "type": "Int32",
      "units": "us"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 3.0,
      "group": "EKF2",
      "max": 100.0,
      "min": 2.0,
      "name": "EKF2_REQ_EPH",
      "shortDesc": "Required EPH to use GPS",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "EKF2",
      "max": 100.0,
      "min": 2.0,
      "name": "EKF2_REQ_EPV",
      "shortDesc": "Required EPV to use GPS",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 10.0,
      "group": "EKF2",
      "longDesc": "Minimum continuous period without GPS failure required to mark a healthy GPS status. It can be reduced to speed up initialization, but it's recommended to keep this unchanged for a vehicle.",
      "min": 0.1,
      "name": "EKF2_REQ_GPS_H",
      "rebootRequired": true,
      "shortDesc": "Required GPS health time on startup",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.1,
      "group": "EKF2",
      "max": 1.0,
      "min": 0.1,
      "name": "EKF2_REQ_HDRIFT",
      "shortDesc": "Maximum horizontal drift speed to use GPS",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "default": 6,
      "group": "EKF2",
      "max": 12,
      "min": 4,
      "name": "EKF2_REQ_NSATS",
      "shortDesc": "Required satellite count to use GPS",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 2.5,
      "group": "EKF2",
      "max": 5.0,
      "min": 1.5,
      "name": "EKF2_REQ_PDOP",
      "shortDesc": "Maximum PDOP to use GPS",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.5,
      "group": "EKF2",
      "max": 5.0,
      "min": 0.5,
      "name": "EKF2_REQ_SACC",
      "shortDesc": "Required speed accuracy to use GPS",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.2,
      "group": "EKF2",
      "max": 1.5,
      "min": 0.1,
      "name": "EKF2_REQ_VDRIFT",
      "shortDesc": "Maximum vertical drift speed to use GPS",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "default": 5.0,
      "group": "EKF2",
      "longDesc": "If the vehicle absolute altitude exceeds this value then the estimator will not fuse range measurements to estimate its height. This only applies when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).",
      "max": 10.0,
      "min": 1.0,
      "name": "EKF2_RNG_A_HMAX",
      "shortDesc": "Maximum absolute altitude (height above ground level) allowed for conditional range aid mode",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "EKF2",
      "longDesc": "A lower value means HAGL needs to be more stable in order to use range finder for height estimation in range aid mode",
      "max": 5.0,
      "min": 0.1,
      "name": "EKF2_RNG_A_IGATE",
      "shortDesc": "Gate size used for innovation consistency checks for range aid fusion",
      "type": "Float",
      "units": "SD"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "EKF2",
      "longDesc": "If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements to estimate its height. This only applies when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).",
      "max": 2.0,
      "min": 0.1,
      "name": "EKF2_RNG_A_VMAX",
      "shortDesc": "Maximum horizontal velocity allowed for conditional range aid mode",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "EKF2",
      "longDesc": "WARNING: Range finder measurements are less reliable and can experience unexpected errors. For these reasons, if accurate control of height relative to ground is required, it is recommended to use the MPC_ALT_MODE parameter instead, unless baro errors are severe enough to cause problems with landing and takeoff. To en-/disable range finder for terrain height estimation, use EKF2_TERR_MASK instead. If this parameter is enabled then the estimator will make use of the range finder measurements to estimate its height in addition to other height sources (if activated). Range sensor aiding can be enabled (i.e.: always use) or set in \"conditional\" mode. Conditional mode: This enables the range finder to be used during low speed (< EKF2_RNG_A_VMAX) and low altitude (< EKF2_RNG_A_HMAX) operation, eg takeoff and landing, where baro interference from rotor wash is excessive and can corrupt EKF state estimates. It is intended to be used where a vertical takeoff and landing is performed, and horizontal flight does not occur until above EKF2_RNG_A_HMAX.",
      "name": "EKF2_RNG_CTRL",
      "shortDesc": "Range sensor height aiding",
      "type": "Int32",
      "values": [
        {
          "description": "Disable range fusion",
          "value": 0
        },
        {
          "description": "Enabled (conditional mode)",
          "value": 1
        },
        {
          "description": "Enabled",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "EKF2",
      "max": 300.0,
      "min": 0.0,
      "name": "EKF2_RNG_DELAY",
      "rebootRequired": true,
      "shortDesc": "Range finder measurement delay relative to IMU measurements",
      "type": "Float",
      "units": "ms"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "EKF2",
      "longDesc": "Sets the number of standard deviations used by the innovation consistency test.",
      "min": 1.0,
      "name": "EKF2_RNG_GATE",
      "shortDesc": "Gate size for range finder fusion",
      "type": "Float",
      "units": "SD"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "EKF2",
      "longDesc": "To be used, the time derivative of the distance sensor measurements projected on the vertical axis needs to be statistically consistent with the estimated vertical velocity of the drone. Decrease this value to make the filter more robust against range finder faulty data (stuck, reflections, ...). Note: tune the range finder noise parameters (EKF2_RNG_NOISE and EKF2_RNG_SFE) before tuning this gate.",
      "max": 5.0,
      "min": 0.1,
      "name": "EKF2_RNG_K_GATE",
      "shortDesc": "Gate size used for range finder kinematic consistency check",
      "type": "Float",
      "units": "SD"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.1,
      "group": "EKF2",
      "min": 0.01,
      "name": "EKF2_RNG_NOISE",
      "shortDesc": "Measurement noise for range finder fusion",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "EKF2",
      "max": 0.75,
      "min": -0.75,
      "name": "EKF2_RNG_PITCH",
      "shortDesc": "Range sensor pitch offset",
      "type": "Float",
      "units": "rad"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "EKF2",
      "name": "EKF2_RNG_POS_X",
      "shortDesc": "X position of range finder origin in body frame (forward axis with origin relative to vehicle centre of gravity)",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "EKF2",
      "name": "EKF2_RNG_POS_Y",
      "shortDesc": "Y position of range finder origin in body frame (right axis with origin relative to vehicle centre of gravity)",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "EKF2",
      "name": "EKF2_RNG_POS_Z",
      "shortDesc": "Z position of range finder origin in body frame (down axis with origin relative to vehicle centre of gravity)",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "EKF2",
      "max": 5.0,
      "min": 0.1,
      "name": "EKF2_RNG_QLTY_T",
      "shortDesc": "Minimum duration during which the reported range finder signal quality needs to be non-zero in order to be declared valid (s)",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 0.05,
      "group": "EKF2",
      "longDesc": "Specifies the increase in range finder noise with range.",
      "max": 0.2,
      "min": 0.0,
      "name": "EKF2_RNG_SFE",
      "shortDesc": "Range finder range dependent noise scaler",
      "type": "Float",
      "units": "m/m"
    },
    {
      "category": "Standard",
      "default": 0.2,
      "group": "EKF2",
      "longDesc": "EKF2 instances have to be better than the selected by at least this amount before their relative score can be reduced.",
      "name": "EKF2_SEL_ERR_RED",
      "shortDesc": "Selector error reduce threshold",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "EKF2",
      "longDesc": "EKF2 selector acceleration error threshold for comparing accelerometers. Acceleration vector differences larger than this will result in accumulated velocity error.",
      "name": "EKF2_SEL_IMU_ACC",
      "shortDesc": "Selector acceleration threshold",
      "type": "Float",
      "units": "m/s^2"
    },
    {
      "category": "Standard",
      "default": 15.0,
      "group": "EKF2",
      "longDesc": "EKF2 selector maximum accumulated angular error threshold for comparing gyros. Accumulated angular error larger than this will result in the sensor being declared faulty.",
      "name": "EKF2_SEL_IMU_ANG",
      "shortDesc": "Selector angular threshold",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "default": 7.0,
      "group": "EKF2",
      "longDesc": "EKF2 selector angular rate error threshold for comparing gyros. Angular rate vector differences larger than this will result in accumulated angular error.",
      "name": "EKF2_SEL_IMU_RAT",
      "shortDesc": "Selector angular rate threshold",
      "type": "Float",
      "units": "deg/s"
    },
    {
      "category": "Standard",
      "default": 2.0,
      "group": "EKF2",
      "longDesc": "EKF2 selector maximum accumulated velocity threshold for comparing accelerometers. Accumulated velocity error larger than this will result in the sensor being declared faulty.",
      "name": "EKF2_SEL_IMU_VEL",
      "shortDesc": "Selector angular threshold",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "EKF2",
      "longDesc": "Use for vehicles where the measured body Z magnetic field is subject to strong magnetic interference. For magnetic heading fusion the magnetometer Z measurement will be replaced by a synthetic value calculated using the knowledge of the 3D magnetic field vector at the location of the drone. Therefore, this parameter will only have an effect if the global position of the drone is known. For 3D mag fusion the magnetometer Z measurement will simply be ignored instead of fusing the synthetic value.",
      "name": "EKF2_SYNT_MAG_Z",
      "shortDesc": "Enable synthetic magnetometer Z component measurement",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 3.0,
      "group": "EKF2",
      "longDesc": "Sets the number of standard deviations used by the innovation consistency test.",
      "min": 1.0,
      "name": "EKF2_TAS_GATE",
      "shortDesc": "Gate size for TAS fusion",
      "type": "Float",
      "units": "SD"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.25,
      "group": "EKF2",
      "max": 1.0,
      "min": 0.1,
      "name": "EKF2_TAU_POS",
      "shortDesc": "Time constant of the position output prediction and smoothing filter. Controls how tightly the output track the EKF states",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.25,
      "group": "EKF2",
      "max": 1.0,
      "name": "EKF2_TAU_VEL",
      "shortDesc": "Time constant of the velocity output prediction and smoothing filter",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.5,
      "group": "EKF2",
      "min": 0.0,
      "name": "EKF2_TERR_GRAD",
      "shortDesc": "Magnitude of terrain gradient",
      "type": "Float",
      "units": "m/m"
    },
    {
      "bitmask": [
        {
          "description": "use range finder",
          "index": 0
        },
        {
          "description": "use optical flow",
          "index": 1
        }
      ],
      "category": "Standard",
      "default": 3,
      "group": "EKF2",
      "longDesc": "Set bits in the following positions to enable: 0 : Set to true to use range finder data if available 1 : Set to true to use optical flow data if available",
      "max": 3,
      "min": 0,
      "name": "EKF2_TERR_MASK",
      "shortDesc": "Integer bitmask controlling fusion sources of the terrain estimator",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "EKF2",
      "min": 0.5,
      "name": "EKF2_TERR_NOISE",
      "shortDesc": "Terrain altitude process noise - accounts for instability in vehicle height estimate",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.01,
      "group": "EKF2",
      "longDesc": "When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.",
      "max": 1.0,
      "min": 0.0,
      "name": "EKF2_WIND_NSD",
      "shortDesc": "Process noise spectral density for wind velocity prediction",
      "type": "Float",
      "units": "m/s^2/sqrt(Hz)"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Events",
      "longDesc": "Enable/disable event task for RC Loss. When enabled, an alarm tune will be played via buzzer or ESCs, if supported. The alarm will sound after a disarm, if the vehicle was previously armed and only if the vehicle had RC signal at some point. Particularly useful for locating crashed drones without a GPS sensor.",
      "name": "EV_TSK_RC_LOSS",
      "rebootRequired": true,
      "shortDesc": "RC Loss Alarm",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Events",
      "longDesc": "Enable/disable event task for displaying the vehicle status using arm-mounted LEDs. When enabled and if the vehicle supports it, LEDs will flash indicating various vehicle status changes. Currently PX4 has not implemented any specific status events. -",
      "name": "EV_TSK_STAT_DIS",
      "rebootRequired": true,
      "shortDesc": "Status Display",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 30.0,
      "group": "FW Attitude Control",
      "increment": 0.5,
      "longDesc": "Maximum manual pitch angle setpoint (positive & negative) in manual attitude-only stabilized mode",
      "max": 90.0,
      "min": 0.0,
      "name": "FW_MAN_P_MAX",
      "shortDesc": "Maximum manual pitch angle",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 45.0,
      "group": "FW Attitude Control",
      "increment": 0.5,
      "longDesc": "Maximum manual roll angle setpoint (positive & negative) in manual attitude-only stabilized mode",
      "max": 90.0,
      "min": 0.0,
      "name": "FW_MAN_R_MAX",
      "shortDesc": "Maximum manual roll angle",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 30.0,
      "group": "FW Attitude Control",
      "increment": 0.5,
      "longDesc": "This is the maximally added yaw rate setpoint from the yaw stick in any attitude controlled flight mode. The controller already generates a yaw rate setpoint to coordinate a turn, and this value is added to it. This is an absolute value, which is applied symmetrically to the negative and positive side.",
      "min": 0.0,
      "name": "FW_MAN_YR_MAX",
      "shortDesc": "Maximum manually added yaw rate",
      "type": "Float",
      "units": "deg/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.0,
      "group": "FW Attitude Control",
      "increment": 0.5,
      "longDesc": "An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the pitch at typical cruise speed of the airframe.",
      "max": 90.0,
      "min": -90.0,
      "name": "FW_PSP_OFF",
      "shortDesc": "Pitch setpoint offset (pitch at level flight)",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 60.0,
      "group": "FW Attitude Control",
      "increment": 0.5,
      "max": 180.0,
      "min": 0.0,
      "name": "FW_P_RMAX_NEG",
      "shortDesc": "Maximum negative / down pitch rate setpoint",
      "type": "Float",
      "units": "deg/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 60.0,
      "group": "FW Attitude Control",
      "increment": 0.5,
      "max": 180.0,
      "min": 0.0,
      "name": "FW_P_RMAX_POS",
      "shortDesc": "Maximum positive / up pitch rate setpoint",
      "type": "Float",
      "units": "deg/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.4,
      "group": "FW Attitude Control",
      "increment": 0.05,
      "longDesc": "This defines the latency between a pitch step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.",
      "max": 1.0,
      "min": 0.2,
      "name": "FW_P_TC",
      "shortDesc": "Attitude pitch time constant",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 70.0,
      "group": "FW Attitude Control",
      "increment": 0.5,
      "max": 180.0,
      "min": 0.0,
      "name": "FW_R_RMAX",
      "shortDesc": "Maximum roll rate setpoint",
      "type": "Float",
      "units": "deg/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.4,
      "group": "FW Attitude Control",
      "increment": 0.05,
      "longDesc": "This defines the latency between a roll step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.",
      "max": 1.0,
      "min": 0.2,
      "name": "FW_R_TC",
      "shortDesc": "Attitude Roll Time Constant",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "FW Attitude Control",
      "increment": 0.01,
      "max": 1.0,
      "min": 0.0,
      "name": "FW_SPOILERS_DESC",
      "shortDesc": "Spoiler descend setting",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "FW Attitude Control",
      "increment": 0.01,
      "max": 1.0,
      "min": 0.0,
      "name": "FW_SPOILERS_LND",
      "shortDesc": "Spoiler landing setting",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.2,
      "group": "FW Attitude Control",
      "increment": 0.05,
      "longDesc": "Direct feed forward from rate setpoint to control surface output",
      "max": 10.0,
      "min": 0.0,
      "name": "FW_WR_FF",
      "shortDesc": "Wheel steering rate feed forward",
      "type": "Float",
      "units": "%/rad/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.1,
      "group": "FW Attitude Control",
      "increment": 0.005,
      "longDesc": "This gain defines how much control response will result out of a steady state error. It trims any constant error.",
      "max": 10.0,
      "min": 0.0,
      "name": "FW_WR_I",
      "shortDesc": "Wheel steering rate integrator gain",
      "type": "Float",
      "units": "%/rad"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.4,
      "group": "FW Attitude Control",
      "increment": 0.05,
      "longDesc": "The portion of the integrator part in the control surface deflection is limited to this value",
      "max": 1.0,
      "min": 0.0,
      "name": "FW_WR_IMAX",
      "shortDesc": "Wheel steering rate integrator limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.5,
      "group": "FW Attitude Control",
      "increment": 0.005,
      "longDesc": "This defines how much the wheel steering input will be commanded depending on the current body angular rate error.",
      "max": 10.0,
      "min": 0.0,
      "name": "FW_WR_P",
      "shortDesc": "Wheel steering rate proportional gain",
      "type": "Float",
      "units": "%/rad/s"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "FW Attitude Control",
      "longDesc": "Only enabled during automatic runway takeoff and landing. In all manual modes the wheel is directly controlled with yaw stick.",
      "name": "FW_W_EN",
      "shortDesc": "Enable wheel steering controller",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 30.0,
      "group": "FW Attitude Control",
      "increment": 0.5,
      "longDesc": "This limits the maximum wheel steering rate the controller will output (in degrees per second).",
      "max": 90.0,
      "min": 0.0,
      "name": "FW_W_RMAX",
      "shortDesc": "Maximum wheel steering rate",
      "type": "Float",
      "units": "deg/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 50.0,
      "group": "FW Attitude Control",
      "increment": 0.5,
      "max": 180.0,
      "min": 0.0,
      "name": "FW_Y_RMAX",
      "shortDesc": "Maximum yaw rate setpoint",
      "type": "Float",
      "units": "deg/s"
    },
    {
      "bitmask": [
        {
          "description": "Abort if terrain is not found (only applies to mission landings)",
          "index": 0
        },
        {
          "description": "Abort if terrain times out (after a first successful measurement)",
          "index": 1
        }
      ],
      "category": "Standard",
      "default": 3,
      "group": "FW Auto Landing",
      "longDesc": "Terrain estimation: bit 0: Abort if terrain is not found bit 1: Abort if terrain times out (after a first successful measurement) The last estimate is always used as ground, whether the last valid measurement or the land waypoint, depending on the selected abort criteria, until an abort condition is entered. If FW_LND_USETER == 0, these bits are ignored. TODO: Extend automatic abort conditions e.g. glide slope tracking error (horizontal and vertical)",
      "max": 3,
      "min": 0,
      "name": "FW_LND_ABORT",
      "shortDesc": "Bit mask to set the automatic landing abort conditions",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": -1.0,
      "group": "FW Auto Landing",
      "increment": 0.1,
      "longDesc": "The calibrated airspeed setpoint during landing. If set <= 0.0, landing airspeed = FW_AIRSPD_MIN by default.",
      "min": -1.0,
      "name": "FW_LND_AIRSPD",
      "shortDesc": "Landing airspeed",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "FW Auto Landing",
      "increment": 0.5,
      "longDesc": "Typically the desired landing slope angle when landing configuration (flaps, airspeed) is enabled. Set this value within the vehicle's performance limits.",
      "max": 15.0,
      "min": 1.0,
      "name": "FW_LND_ANG",
      "shortDesc": "Maximum landing slope angle",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "FW Auto Landing",
      "longDesc": "When disabled, the landing configuration (flaps, landing airspeed, etc.) is only activated on the final approach to landing. When enabled, it is already activated when entering the final loiter-down (loiter-to-alt) waypoint before the landing approach. This shifts the (often large) altitude and airspeed errors caused by the configuration change away from the ground such that these are not so critical. It also gives the controller enough time to adapt to the new configuration such that the landing approach starts with a cleaner initial state.",
      "name": "FW_LND_EARLYCFG",
      "shortDesc": "Early landing configuration deployment",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.5,
      "group": "FW Auto Landing",
      "increment": 0.5,
      "longDesc": "NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * |z-velocity|) is taken as the flare altitude",
      "min": 0.0,
      "name": "FW_LND_FLALT",
      "shortDesc": "Landing flare altitude (relative to landing altitude)",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 15.0,
      "group": "FW Auto Landing",
      "increment": 0.5,
      "longDesc": "Maximum pitch during flare, a positive sign means nose up Applied once flaring is triggered",
      "max": 45.0,
      "min": 0.0,
      "name": "FW_LND_FL_PMAX",
      "shortDesc": "Flare, maximum pitch",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 2.5,
      "group": "FW Auto Landing",
      "increment": 0.5,
      "longDesc": "Minimum pitch during flare, a positive sign means nose up Applied once flaring is triggered",
      "max": 15.0,
      "min": -5.0,
      "name": "FW_LND_FL_PMIN",
      "shortDesc": "Flare, minimum pitch",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.25,
      "group": "FW Auto Landing",
      "increment": 0.1,
      "longDesc": "TECS will attempt to control the aircraft to this sink rate via pitch angle (throttle killed during flare)",
      "max": 2.0,
      "min": 0.0,
      "name": "FW_LND_FL_SINK",
      "shortDesc": "Landing flare sink rate",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 1.0,
      "group": "FW Auto Landing",
      "increment": 0.1,
      "longDesc": "Multiplied by the descent rate to calculate a dynamic altitude at which to trigger the flare. NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * descent rate) is taken as the flare altitude",
      "max": 5.0,
      "min": 0.1,
      "name": "FW_LND_FL_TIME",
      "shortDesc": "Landing flare time",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 2,
      "group": "FW Auto Landing",
      "longDesc": "Approach angle nudging: shifts the touchdown point laterally while keeping the approach entrance point constant Approach path nudging: shifts the touchdown point laterally along with the entire approach path This is useful for manually adjusting the landing point in real time when map or GNSS errors cause an offset from the desired landing vector. Nuding is done with yaw stick, constrained to FW_LND_TD_OFF (in meters) and the direction is relative to the vehicle heading (stick deflection to the right = land point moves to the right as seen by the vehicle).",
      "max": 2,
      "min": 0,
      "name": "FW_LND_NUDGE",
      "shortDesc": "Landing touchdown nudging option",
      "type": "Int32",
      "values": [
        {
          "description": "Disable nudging",
          "value": 0
        },
        {
          "description": "Nudge approach angle",
          "value": 1
        },
        {
          "description": "Nudge approach path",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 3.0,
      "group": "FW Auto Landing",
      "increment": 1.0,
      "max": 10.0,
      "min": 0.0,
      "name": "FW_LND_TD_OFF",
      "shortDesc": "Maximum lateral position offset for the touchdown point",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": -1.0,
      "group": "FW Auto Landing",
      "increment": 0.1,
      "longDesc": "This is the time after the start of flaring that we expect the vehicle to touch the runway. At this time, a 0.5s clamp down ramp will engage, constraining the pitch setpoint to RWTO_PSP. If enabled, ensure that RWTO_PSP is configured appropriately for full gear contact on ground roll. Set to -1.0 to disable touchdown clamping. E.g. it may not be desirable to clamp on belly landings. The touchdown time will be constrained to be greater than or equal to the flare time (FW_LND_FL_TIME).",
      "max": 5.0,
      "min": -1.0,
      "name": "FW_LND_TD_TIME",
      "shortDesc": "Landing touchdown time (since flare start)",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "FW Auto Landing",
      "increment": 0.1,
      "longDesc": "Set this parameter to less than 1.0 to make TECS react faster to altitude errors during landing than during normal flight. During landing, the TECS altitude time constant (FW_T_ALT_TC) is multiplied by this value.",
      "max": 1.0,
      "min": 0.2,
      "name": "FW_LND_THRTC_SC",
      "shortDesc": "Altitude time constant factor for landing",
      "type": "Float",
      "units": ""
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "FW Auto Landing",
      "longDesc": "NOTE: terrain estimate is currently solely derived from a distance sensor. If enabled and no measurement is found within a given timeout, the landing waypoint altitude will be used OR the landing will be aborted, depending on the criteria set in FW_LND_ABORT. If disabled, FW_LND_ABORT terrain based criteria are ignored.",
      "max": 2,
      "min": 0,
      "name": "FW_LND_USETER",
      "shortDesc": "Use terrain estimation during landing. This is critical for detecting when to flare, and should be enabled if possible",
      "type": "Int32",
      "values": [
        {
          "description": "Disable the terrain estimate",
          "value": 0
        },
        {
          "description": "Use the terrain estimate to trigger the flare (only)",
          "value": 1
        },
        {
          "description": "Calculate landing glide slope relative to the terrain estimate",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.5,
      "group": "FW Geometry",
      "increment": 1.0,
      "longDesc": "This is used to constrain a minimum altitude below which we keep wings level to avoid wing tip strike. It's safer to give a slight margin here (> 0m)",
      "min": 0.0,
      "name": "FW_WING_HEIGHT",
      "shortDesc": "Height (AGL) of the wings when the aircraft is on the ground",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 3.0,
      "group": "FW Geometry",
      "increment": 0.1,
      "longDesc": "This is used for limiting the roll setpoint near the ground. (if multiple wings, take the longest span)",
      "min": 0.1,
      "name": "FW_WING_SPAN",
      "shortDesc": "The aircraft's wing span (length from tip to tip)",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.05,
      "group": "FW Launch detection",
      "increment": 0.05,
      "longDesc": "Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.",
      "max": 5.0,
      "min": 0.0,
      "name": "FW_LAUN_AC_T",
      "shortDesc": "Trigger time",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 30.0,
      "group": "FW Launch detection",
      "increment": 0.5,
      "longDesc": "Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.",
      "min": 0.0,
      "name": "FW_LAUN_AC_THLD",
      "shortDesc": "Trigger acceleration threshold",
      "type": "Float",
      "units": "m/s^2"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "FW Launch detection",
      "longDesc": "Enables automatic launch detection based on measured acceleration. Use for hand- or catapult-launched vehicles. Only available for fixed-wing vehicles. Not compatible with runway takeoff.",
      "name": "FW_LAUN_DETCN_ON",
      "shortDesc": "FW Launch detection",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.0,
      "group": "FW Launch detection",
      "increment": 0.5,
      "longDesc": "Start the motor(s) this amount of seconds after launch is detected.",
      "max": 10.0,
      "min": 0.0,
      "name": "FW_LAUN_MOT_DEL",
      "shortDesc": "Motor delay",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.7,
      "group": "FW NPFG Control",
      "increment": 0.01,
      "longDesc": "Damping ratio of the NPFG control law.",
      "max": 1.0,
      "min": 0.1,
      "name": "NPFG_DAMPING",
      "shortDesc": "NPFG damping ratio",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "FW NPFG Control",
      "name": "NPFG_EN_MIN_GSP",
      "shortDesc": "Enable minimum forward ground speed maintaining excess wind handling logic",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "FW NPFG Control",
      "increment": 0.5,
      "longDesc": "The maximum value of the minimum forward ground speed that may be commanded by the track keeping excess wind handling logic. Commanded in full at the normalized track error fraction of the track error boundary and reduced to zero on track.",
      "max": 10.0,
      "min": 0.0,
      "name": "NPFG_GSP_MAX_TK",
      "shortDesc": "Maximum, minimum forward ground speed for track keeping in excess wind",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "FW NPFG Control",
      "longDesc": "Avoids limit cycling from a too aggressively tuned period/damping combination. If set to false, also disables the upper bound NPFG_PERIOD_UB.",
      "name": "NPFG_LB_PERIOD",
      "shortDesc": "Enable automatic lower bound on the NPFG period",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 10.0,
      "group": "FW NPFG Control",
      "increment": 0.1,
      "longDesc": "Period of the NPFG control law.",
      "max": 100.0,
      "min": 1.0,
      "name": "NPFG_PERIOD",
      "shortDesc": "NPFG period",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 1.5,
      "group": "FW NPFG Control",
      "increment": 0.1,
      "longDesc": "Multiplied by period for conservative minimum period bounding (when period lower bounding is enabled). 1.0 bounds at marginal stability.",
      "max": 10.0,
      "min": 1.0,
      "name": "NPFG_PERIOD_SF",
      "shortDesc": "Period safety factor",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.5,
      "group": "FW NPFG Control",
      "increment": 0.05,
      "longDesc": "Time constant of roll controller command / response, modeled as first order delay. Used to determine lower period bound. Setting zero disables automatic period bounding.",
      "max": 2.0,
      "min": 0.0,
      "name": "NPFG_ROLL_TC",
      "shortDesc": "Roll time constant",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.32,
      "group": "FW NPFG Control",
      "increment": 0.01,
      "longDesc": "Multiplied by the track error boundary to determine when the aircraft switches to the next waypoint and/or path segment. Should be less than 1.",
      "max": 1.0,
      "min": 0.1,
      "name": "NPFG_SW_DST_MLT",
      "shortDesc": "NPFG switch distance multiplier",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "FW NPFG Control",
      "name": "NPFG_TRACK_KEEP",
      "shortDesc": "Enable track keeping excess wind handling logic",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "FW NPFG Control",
      "longDesc": "Adapts period to maintain track keeping in variable winds and path curvature.",
      "name": "NPFG_UB_PERIOD",
      "shortDesc": "Enable automatic upper bound on the NPFG period",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "FW NPFG Control",
      "longDesc": "Disabling this parameter further disables all other airspeed incrementation options.",
      "name": "NPFG_WIND_REG",
      "shortDesc": "Enable wind excess regulation",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 0,
      "default": 90.0,
      "group": "FW Path Control",
      "increment": 1.0,
      "longDesc": "The maximum change in roll angle setpoint per second.",
      "min": 0.0,
      "name": "FW_PN_R_SLEW_MAX",
      "shortDesc": "Path navigation roll slew rate limit",
      "type": "Float",
      "units": "deg/s"
    },
    {
      "bitmask": [
        {
          "description": "Alternative stick configuration (height rate on throttle stick, airspeed on pitch stick)",
          "index": 0
        },
        {
          "description": "Enable airspeed setpoint via sticks in altitude and position flight mode",
          "index": 1
        }
      ],
      "category": "Standard",
      "default": 2,
      "group": "FW Path Control",
      "longDesc": "Set RC/joystick configuration for fixed-wing manual position and altitude controlled flight.",
      "max": 3,
      "min": 0,
      "name": "FW_POS_STK_CONF",
      "shortDesc": "RC stick configuration fixed-wing",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 50.0,
      "group": "FW Path Control",
      "increment": 0.5,
      "longDesc": "The maximum roll angle setpoint for setpoint for a height-rate or altitude controlled mode.",
      "max": 65.0,
      "min": 35.0,
      "name": "FW_R_LIM",
      "shortDesc": "Maximum roll angle",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 10.0,
      "group": "FW Path Control",
      "increment": 0.5,
      "max": 30.0,
      "min": -5.0,
      "name": "FW_TKO_PITCH_MIN",
      "shortDesc": "Minimum pitch during takeoff",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "default": 90.0,
      "group": "FW Rate Control",
      "longDesc": "This is the rate the controller is trying to achieve if the user applies full roll stick input in acro mode.",
      "max": 720.0,
      "min": 10.0,
      "name": "FW_ACRO_X_MAX",
      "shortDesc": "Acro body x max rate",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "FW Rate Control",
      "longDesc": "If this parameter is set to 1, the yaw rate controller is enabled in Fixed-wing Acro mode. Otherwise the pilot commands directly the yaw actuator. It is disabled by default because an active yaw rate controller will fight against the natural turn coordination of the plane.",
      "name": "FW_ACRO_YAW_EN",
      "shortDesc": "Enable yaw rate controller in Acro",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 90.0,
      "group": "FW Rate Control",
      "max": 720.0,
      "min": 10.0,
      "name": "FW_ACRO_Y_MAX",
      "shortDesc": "Acro body pitch max rate setpoint",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "default": 45.0,
      "group": "FW Rate Control",
      "max": 720.0,
      "min": 10.0,
      "name": "FW_ACRO_Z_MAX",
      "shortDesc": "Acro body yaw max rate setpoint",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "FW Rate Control",
      "longDesc": "On vehicles without airspeed sensor this parameter can be used to enable flying without an airspeed reading",
      "name": "FW_ARSP_MODE",
      "shortDesc": "Airspeed mode",
      "type": "Int32",
      "values": [
        {
          "description": "Use airspeed in controller",
          "value": 0
        },
        {
          "description": "Do not use airspeed in controller",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "FW Rate Control",
      "longDesc": "This enables a logic that automatically adjusts the output of the rate controller to take into account the real torque produced by an aerodynamic control surface given the current deviation from the trim airspeed (FW_AIRSPD_TRIM). Enable when using aerodynamic control surfaces (e.g.: plane) Disable when using rotor wings (e.g.: autogyro)",
      "name": "FW_ARSP_SCALE_EN",
      "shortDesc": "Enable airspeed scaling",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "FW Rate Control",
      "longDesc": "This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery.",
      "name": "FW_BAT_SCALE_EN",
      "shortDesc": "Enable throttle scale by battery level",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "FW Rate Control",
      "increment": 0.01,
      "longDesc": "This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX.",
      "max": 0.5,
      "min": -0.5,
      "name": "FW_DTRIM_P_VMAX",
      "shortDesc": "Pitch trim increment at maximum airspeed",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "FW Rate Control",
      "increment": 0.01,
      "longDesc": "This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN.",
      "max": 0.5,
      "min": -0.5,
      "name": "FW_DTRIM_P_VMIN",
      "shortDesc": "Pitch trim increment at minimum airspeed",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "FW Rate Control",
      "increment": 0.01,
      "longDesc": "This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX.",
      "max": 0.5,
      "min": -0.5,
      "name": "FW_DTRIM_R_VMAX",
      "shortDesc": "Roll trim increment at maximum airspeed",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "FW Rate Control",
      "increment": 0.01,
      "longDesc": "This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.",
      "max": 0.5,
      "min": -0.5,
      "name": "FW_DTRIM_R_VMIN",
      "shortDesc": "Roll trim increment at minimum airspeed",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "FW Rate Control",
      "increment": 0.01,
      "longDesc": "This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX.",
      "max": 0.5,
      "min": -0.5,
      "name": "FW_DTRIM_Y_VMAX",
      "shortDesc": "Yaw trim increment at maximum airspeed",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "FW Rate Control",
      "increment": 0.01,
      "longDesc": "This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.",
      "max": 0.5,
      "min": -0.5,
      "name": "FW_DTRIM_Y_VMIN",
      "shortDesc": "Yaw trim increment at minimum airspeed",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 1.0,
      "group": "FW Rate Control",
      "increment": 0.01,
      "longDesc": "Sets a fraction of full flaps during landing. Also applies to flaperons if enabled in the mixer/allocation.",
      "max": 1.0,
      "min": 0.0,
      "name": "FW_FLAPS_LND_SCL",
      "shortDesc": "Flaps setting during landing",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "FW Rate Control",
      "increment": 0.01,
      "longDesc": "Sets a fraction of full flaps during take-off. Also applies to flaperons if enabled in the mixer/allocation.",
      "max": 1.0,
      "min": 0.0,
      "name": "FW_FLAPS_TO_SCL",
      "shortDesc": "Flaps setting during take-off",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 1.0,
      "group": "FW Rate Control",
      "increment": 0.01,
      "longDesc": "Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.",
      "min": 0.0,
      "name": "FW_MAN_P_SC",
      "shortDesc": "Manual pitch scale",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 1.0,
      "group": "FW Rate Control",
      "increment": 0.01,
      "longDesc": "Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.",
      "max": 1.0,
      "min": 0.0,
      "name": "FW_MAN_R_SC",
      "shortDesc": "Manual roll scale",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 1.0,
      "group": "FW Rate Control",
      "increment": 0.01,
      "longDesc": "Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.",
      "min": 0.0,
      "name": "FW_MAN_Y_SC",
      "shortDesc": "Manual yaw scale",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "FW Rate Control",
      "increment": 0.005,
      "longDesc": "Pitch rate differential gain.",
      "max": 10.0,
      "min": 0.0,
      "name": "FW_PR_D",
      "shortDesc": "Pitch rate derivative gain",
      "type": "Float",
      "units": "%/rad/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.5,
      "group": "FW Rate Control",
      "increment": 0.05,
      "longDesc": "Direct feed forward from rate setpoint to control surface output",
      "max": 10.0,
      "min": 0.0,
      "name": "FW_PR_FF",
      "shortDesc": "Pitch rate feed forward",
      "type": "Float",
      "units": "%/rad/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.1,
      "group": "FW Rate Control",
      "increment": 0.005,
      "longDesc": "This gain defines how much control response will result out of a steady state error. It trims any constant error.",
      "max": 10.0,
      "min": 0.0,
      "name": "FW_PR_I",
      "shortDesc": "Pitch rate integrator gain",
      "type": "Float",
      "units": "%/rad"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.4,
      "group": "FW Rate Control",
      "increment": 0.05,
      "longDesc": "The portion of the integrator part in the control surface deflection is limited to this value",
      "max": 1.0,
      "min": 0.0,
      "name": "FW_PR_IMAX",
      "shortDesc": "Pitch rate integrator limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.08,
      "group": "FW Rate Control",
      "increment": 0.005,
      "max": 10.0,
      "min": 0.0,
      "name": "FW_PR_P",
      "shortDesc": "Pitch rate proportional gain",
      "type": "Float",
      "units": "%/rad/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.0,
      "group": "FW Rate Control",
      "increment": 0.01,
      "longDesc": "This gain can be used to counteract the \"adverse yaw\" effect for fixed wings. When the plane enters a roll it will tend to yaw the nose out of the turn. This gain enables the use of a yaw actuator to counteract this effect.",
      "min": 0.0,
      "name": "FW_RLL_TO_YAW_FF",
      "shortDesc": "Roll control to yaw control feedforward gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "FW Rate Control",
      "increment": 0.005,
      "longDesc": "Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.",
      "max": 10.0,
      "min": 0.0,
      "name": "FW_RR_D",
      "shortDesc": "Roll rate derivative Gain",
      "type": "Float",
      "units": "%/rad/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.5,
      "group": "FW Rate Control",
      "increment": 0.05,
      "longDesc": "Direct feed forward from rate setpoint to control surface output. Use this to obtain a tigher response of the controller without introducing noise amplification.",
      "max": 10.0,
      "min": 0.0,
      "name": "FW_RR_FF",
      "shortDesc": "Roll rate feed forward",
      "type": "Float",
      "units": "%/rad/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.1,
      "group": "FW Rate Control",
      "increment": 0.01,
      "longDesc": "This gain defines how much control response will result out of a steady state error. It trims any constant error.",
      "max": 10.0,
      "min": 0.0,
      "name": "FW_RR_I",
      "shortDesc": "Roll rate integrator Gain",
      "type": "Float",
      "units": "%/rad"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.2,
      "group": "FW Rate Control",
      "increment": 0.05,
      "longDesc": "The portion of the integrator part in the control surface deflection is limited to this value.",
      "max": 1.0,
      "min": 0.0,
      "name": "FW_RR_IMAX",
      "shortDesc": "Roll integrator anti-windup",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.05,
      "group": "FW Rate Control",
      "increment": 0.005,
      "max": 10.0,
      "min": 0.0,
      "name": "FW_RR_P",
      "shortDesc": "Roll rate proportional Gain",
      "type": "Float",
      "units": "%/rad/s"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "FW Rate Control",
      "longDesc": "Chose source for manual setting of spoilers in manual flight modes.",
      "name": "FW_SPOILERS_MAN",
      "shortDesc": "Spoiler input in manual flight",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Flaps channel",
          "value": 1
        },
        {
          "description": "Aux1",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "FW Rate Control",
      "increment": 0.005,
      "longDesc": "Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.",
      "max": 10.0,
      "min": 0.0,
      "name": "FW_YR_D",
      "shortDesc": "Yaw rate derivative gain",
      "type": "Float",
      "units": "%/rad/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.3,
      "group": "FW Rate Control",
      "increment": 0.05,
      "longDesc": "Direct feed forward from rate setpoint to control surface output",
      "max": 10.0,
      "min": 0.0,
      "name": "FW_YR_FF",
      "shortDesc": "Yaw rate feed forward",
      "type": "Float",
      "units": "%/rad/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.1,
      "group": "FW Rate Control",
      "increment": 0.5,
      "longDesc": "This gain defines how much control response will result out of a steady state error. It trims any constant error.",
      "max": 10.0,
      "min": 0.0,
      "name": "FW_YR_I",
      "shortDesc": "Yaw rate integrator gain",
      "type": "Float",
      "units": "%/rad"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.2,
      "group": "FW Rate Control",
      "increment": 0.05,
      "longDesc": "The portion of the integrator part in the control surface deflection is limited to this value",
      "max": 1.0,
      "min": 0.0,
      "name": "FW_YR_IMAX",
      "shortDesc": "Yaw rate integrator limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.05,
      "group": "FW Rate Control",
      "increment": 0.005,
      "max": 10.0,
      "min": 0.0,
      "name": "FW_YR_P",
      "shortDesc": "Yaw rate proportional gain",
      "type": "Float",
      "units": "%/rad/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 20.0,
      "group": "FW TECS",
      "increment": 0.5,
      "longDesc": "The maximal airspeed (calibrated airspeed) the user is able to command.",
      "min": 0.5,
      "name": "FW_AIRSPD_MAX",
      "shortDesc": "Maximum Airspeed (CAS)",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 10.0,
      "group": "FW TECS",
      "increment": 0.5,
      "longDesc": "The minimal airspeed (calibrated airspeed) the user is able to command. Further, if the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively. Has to be set according to the vehicle's stall speed (which should be set in FW_AIRSPD_STALL), with some margin between the stall speed and minimum airspeed. This value corresponds to the desired minimum speed with the default load factor (level flight, default weight), and is automatically adpated to the current load factor (calculated from roll setpoint and WEIGHT_GROSS/WEIGHT_BASE).",
      "min": 0.5,
      "name": "FW_AIRSPD_MIN",
      "shortDesc": "Minimum Airspeed (CAS)",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 7.0,
      "group": "FW TECS",
      "increment": 0.5,
      "longDesc": "The stall airspeed (calibrated airspeed) of the vehicle. It is used for airspeed sensor failure detection and for the control surface scaling airspeed limits.",
      "min": 0.5,
      "name": "FW_AIRSPD_STALL",
      "shortDesc": "Stall Airspeed (CAS)",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 15.0,
      "group": "FW TECS",
      "increment": 0.5,
      "longDesc": "The trim CAS (calibrated airspeed) of the vehicle. If an airspeed controller is active, this is the default airspeed setpoint that the controller will try to achieve.",
      "min": 0.5,
      "name": "FW_AIRSPD_TRIM",
      "shortDesc": "Trim (Cruise) Airspeed",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "FW TECS",
      "increment": 0.5,
      "longDesc": "The controller will increase the commanded airspeed to maintain this minimum groundspeed to the next waypoint.",
      "max": 40.0,
      "min": 0.0,
      "name": "FW_GND_SPD_MIN",
      "shortDesc": "Minimum groundspeed",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 30.0,
      "group": "FW TECS",
      "increment": 0.5,
      "longDesc": "The maximum pitch angle setpoint setpoint for a height-rate or altitude controlled mode.",
      "max": 60.0,
      "min": 0.0,
      "name": "FW_P_LIM_MAX",
      "shortDesc": "Maximum pitch angle",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": -30.0,
      "group": "FW TECS",
      "increment": 0.5,
      "longDesc": "The minimum pitch angle setpoint for a height-rate or altitude controlled mode.",
      "max": 0.0,
      "min": -60.0,
      "name": "FW_P_LIM_MIN",
      "shortDesc": "Minimum pitch angle",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "FW TECS",
      "increment": 0.01,
      "longDesc": "Required throttle for level flight at maximum airspeed FW_AIRSPD_MAX (sea level, standard atmosphere) Set to 0 to disable mapping of airspeed to trim throttle.",
      "max": 1.0,
      "min": 0.0,
      "name": "FW_THR_ASPD_MAX",
      "shortDesc": "Throttle at max airspeed",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "FW TECS",
      "increment": 0.01,
      "longDesc": "Required throttle for level flight at minimum airspeed FW_AIRSPD_MIN (sea level, standard atmosphere) Set to 0 to disable mapping of airspeed to trim throttle below FW_AIRSPD_TRIM.",
      "max": 1.0,
      "min": 0.0,
      "name": "FW_THR_ASPD_MIN",
      "shortDesc": "Throttle at min airspeed",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "FW TECS",
      "increment": 0.01,
      "longDesc": "This is the minimum throttle while on the ground For aircraft with internal combustion engines, this parameter should be set above the desired idle rpm. For electric motors, idle should typically be set to zero. Note that in automatic modes, \"landed\" conditions will engage idle throttle.",
      "max": 0.4,
      "min": 0.0,
      "name": "FW_THR_IDLE",
      "shortDesc": "Idle throttle",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 1.0,
      "group": "FW TECS",
      "increment": 0.01,
      "longDesc": "This is the maximum throttle % that can be used by the controller. For overpowered aircraft, this should be reduced to a value that provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX.",
      "max": 1.0,
      "min": 0.0,
      "name": "FW_THR_MAX",
      "shortDesc": "Throttle limit max",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "FW TECS",
      "increment": 0.01,
      "longDesc": "This is the minimum throttle % that can be used by the controller. For electric aircraft this will normally be set to zero, but can be set to a small non-zero value if a folding prop is fitted to prevent the prop from folding and unfolding repeatedly in-flight or to provide some aerodynamic drag from a turning prop to improve the descent rate. For aircraft with internal combustion engine this parameter should be set for desired idle rpm.",
      "max": 1.0,
      "min": 0.0,
      "name": "FW_THR_MIN",
      "shortDesc": "Throttle limit min",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "FW TECS",
      "increment": 0.01,
      "longDesc": "Maximum slew rate for the commanded throttle",
      "max": 1.0,
      "min": 0.0,
      "name": "FW_THR_SLEW_MAX",
      "shortDesc": "Throttle max slew rate",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.6,
      "group": "FW TECS",
      "increment": 0.01,
      "longDesc": "This is the throttle setting required to achieve FW_AIRSPD_TRIM during level flight.",
      "max": 1.0,
      "min": 0.0,
      "name": "FW_THR_TRIM",
      "shortDesc": "Trim throttle",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": -1.0,
      "group": "FW TECS",
      "increment": 0.1,
      "longDesc": "The calibrated airspeed setpoint TECS will stabilize to during the takeoff climbout. If set <= 0.0, FW_AIRSPD_MIN will be set by default.",
      "min": -1.0,
      "name": "FW_TKO_AIRSPD",
      "shortDesc": "Takeoff Airspeed",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 5.0,
      "group": "FW TECS",
      "increment": 0.5,
      "min": 2.0,
      "name": "FW_T_ALT_TC",
      "shortDesc": "Altitude error time constant",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "FW TECS",
      "increment": 0.5,
      "longDesc": "This is the maximum climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the trim value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced.",
      "max": 15.0,
      "min": 1.0,
      "name": "FW_T_CLMB_MAX",
      "shortDesc": "Maximum climb rate",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 3.0,
      "group": "FW TECS",
      "increment": 0.01,
      "longDesc": "The default rate at which the vehicle will climb in autonomous modes to achieve altitude setpoints. In manual modes this defines the maximum rate at which the altitude setpoint can be increased.",
      "max": 15.0,
      "min": 0.5,
      "name": "FW_T_CLMB_R_SP",
      "shortDesc": "Default target climbrate",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.3,
      "group": "FW TECS",
      "increment": 0.05,
      "max": 1.0,
      "min": 0.0,
      "name": "FW_T_HRATE_FF",
      "shortDesc": "Height rate feed forward",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.1,
      "group": "FW TECS",
      "increment": 0.05,
      "longDesc": "This is the integrator gain on the pitch part of the control loop. Increasing this gain increases the speed at which speed and height offsets are trimmed out, but reduces damping and increases overshoot. Set this value to zero to completely disable all integrator action.",
      "max": 2.0,
      "min": 0.0,
      "name": "FW_T_I_GAIN_PIT",
      "shortDesc": "Integrator gain pitch",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.05,
      "group": "FW TECS",
      "increment": 0.05,
      "longDesc": "This is the integrator gain on the throttle part of the control loop. Increasing this gain increases the speed at which speed and height offsets are trimmed out, but reduces damping and increases overshoot. Set this value to zero to completely disable all integrator action.",
      "max": 2.0,
      "min": 0.0,
      "name": "FW_T_I_GAIN_THR",
      "shortDesc": "Integrator gain throttle",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.1,
      "group": "FW TECS",
      "increment": 0.1,
      "longDesc": "This is the damping gain for the pitch demand loop. Increase to add damping to correct for oscillations in height. The default value of 0.0 will work well provided the pitch to servo controller has been tuned properly.",
      "max": 2.0,
      "min": 0.0,
      "name": "FW_T_PTCH_DAMP",
      "shortDesc": "Pitch damping factor",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 15.0,
      "group": "FW TECS",
      "increment": 0.5,
      "longDesc": "Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to  approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value.",
      "max": 20.0,
      "min": 0.0,
      "name": "FW_T_RLL2THR",
      "shortDesc": "Roll -> Throttle feedforward",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 1.0,
      "group": "FW TECS",
      "increment": 0.01,
      "max": 3.0,
      "min": 0.5,
      "name": "FW_T_SEB_R_FF",
      "shortDesc": "Specific total energy balance rate feedforward gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "FW TECS",
      "increment": 0.5,
      "longDesc": "This sets the maximum descent rate that the controller will use. If this value is too large, the aircraft can over-speed on descent. This should be set to a value that can be achieved without exceeding the lower pitch angle limit and without over-speeding the aircraft.",
      "max": 15.0,
      "min": 1.0,
      "name": "FW_T_SINK_MAX",
      "shortDesc": "Maximum descent rate",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 2.0,
      "group": "FW TECS",
      "increment": 0.5,
      "longDesc": "This is the sink rate of the aircraft with the throttle set to THR_MIN and flown at the same airspeed as used to measure FW_T_CLMB_MAX.",
      "max": 5.0,
      "min": 1.0,
      "name": "FW_T_SINK_MIN",
      "shortDesc": "Minimum descent rate",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 2.0,
      "group": "FW TECS",
      "increment": 0.01,
      "longDesc": "The default rate at which the vehicle will sink in autonomous modes to achieve altitude setpoints. In manual modes this defines the maximum rate at which the altitude setpoint can be decreased.",
      "max": 15.0,
      "min": 0.5,
      "name": "FW_T_SINK_R_SP",
      "shortDesc": "Default target sinkrate",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 1.0,
      "group": "FW TECS",
      "increment": 1.0,
      "longDesc": "This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. This will normally reduce airspeed errors, but give larger height errors. The default value of 1.0 allows the pitch control to simultaneously control height and speed. Set to 2 for gliders.",
      "max": 2.0,
      "min": 0.0,
      "name": "FW_T_SPDWEIGHT",
      "shortDesc": "Speed <--> Altitude priority",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.2,
      "group": "FW TECS",
      "increment": 0.1,
      "longDesc": "This is the measurement standard deviation for the airspeed rate used in the airspeed filter in TECS.",
      "max": 10.0,
      "min": 0.01,
      "name": "FW_T_SPD_DEV_STD",
      "shortDesc": "Airspeed rate measurement standard deviation for airspeed filter",
      "type": "Float",
      "units": "m/s^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.2,
      "group": "FW TECS",
      "increment": 0.1,
      "longDesc": "This is the process noise standard deviation in the airspeed filter filter defining the noise in the airspeed rate for the constant airspeed rate model. This is used to define how much the airspeed and the airspeed rate are filtered. The smaller the value the more the measurements are smoothed with the drawback for delays.",
      "max": 10.0,
      "min": 0.01,
      "name": "FW_T_SPD_PRC_STD",
      "shortDesc": "Process noise standard deviation for the airspeed rate in the airspeed filter",
      "type": "Float",
      "units": "m/s^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.2,
      "group": "FW TECS",
      "increment": 0.1,
      "longDesc": "This is the measurement standard deviation for the airspeed used in the airspeed filter in TECS.",
      "max": 10.0,
      "min": 0.01,
      "name": "FW_T_SPD_STD",
      "shortDesc": "Airspeed measurement standard deviation for airspeed filter",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.4,
      "group": "FW TECS",
      "increment": 0.01,
      "longDesc": "This filter is applied to the specific total energy rate used for throttle damping.",
      "max": 2.0,
      "min": 0.0,
      "name": "FW_T_STE_R_TC",
      "shortDesc": "Specific total energy rate first order filter time constant",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 5.0,
      "group": "FW TECS",
      "increment": 0.5,
      "min": 2.0,
      "name": "FW_T_TAS_TC",
      "shortDesc": "True airspeed error time constant",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.1,
      "group": "FW TECS",
      "increment": 0.1,
      "longDesc": "This is the damping gain for the throttle demand loop. Increase to add damping to correct for oscillations in speed and height.",
      "max": 2.0,
      "min": 0.0,
      "name": "FW_T_THR_DAMP",
      "shortDesc": "Throttle damping factor",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 7.0,
      "group": "FW TECS",
      "increment": 0.5,
      "longDesc": "This is the maximum vertical acceleration (in m/s/s) either up or down that the controller will use to correct speed or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) allows for reasonably aggressive pitch changes if required to recover from under-speed conditions.",
      "max": 10.0,
      "min": 1.0,
      "name": "FW_T_VERT_ACC",
      "shortDesc": "Maximum vertical acceleration",
      "type": "Float",
      "units": "m/s^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "FW TECS",
      "increment": 0.01,
      "longDesc": "Multiplying this factor with the current absolute wind estimate gives the airspeed offset added to the minimum airspeed setpoint limit. This helps to make the system more robust against disturbances (turbulence) in high wind. Only applies to AUTO flight mode. airspeed_min_adjusted = FW_AIRSPD_MIN + FW_WIND_ARSP_SC * wind.length()",
      "min": 0.0,
      "name": "FW_WIND_ARSP_SC",
      "shortDesc": "Wind-based airspeed scaling factor",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Failure Detector",
      "longDesc": "If enabled, failure detector will verify that for motors, a minimum amount of ESC current per throttle level is being consumed. Otherwise this indicates an motor failure.",
      "name": "FD_ACT_EN",
      "rebootRequired": true,
      "shortDesc": "Enable Actuator Failure check",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 2.0,
      "group": "Failure Detector",
      "increment": 1.0,
      "longDesc": "Motor failure triggers only below this current value",
      "max": 50.0,
      "min": 0.0,
      "name": "FD_ACT_MOT_C2T",
      "shortDesc": "Motor Failure Current/Throttle Threshold",
      "type": "Float",
      "units": "A/%"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.2,
      "group": "Failure Detector",
      "increment": 0.01,
      "longDesc": "Motor failure triggers only above this throttle value.",
      "max": 1.0,
      "min": 0.0,
      "name": "FD_ACT_MOT_THR",
      "shortDesc": "Motor Failure Throttle Threshold",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "default": 100,
      "group": "Failure Detector",
      "increment": 100,
      "longDesc": "Motor failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time.",
      "max": 10000,
      "min": 10,
      "name": "FD_ACT_MOT_TOUT",
      "shortDesc": "Motor Failure Time Threshold",
      "type": "Int32",
      "units": "ms"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Failure Detector",
      "longDesc": "If enabled, failure detector will verify that all the ESCs have successfully armed when the vehicle has transitioned to the armed state. Timeout for receiving an acknowledgement from the ESCs is 0.3s, if no feedback is received the failure detector will auto disarm the vehicle.",
      "name": "FD_ESCS_EN",
      "shortDesc": "Enable checks on ESCs that report their arming state",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Failure Detector",
      "longDesc": "Enabled on either AUX5 or MAIN5 depending on board. External ATS is required by ASTM F3322-18.",
      "name": "FD_EXT_ATS_EN",
      "rebootRequired": true,
      "shortDesc": "Enable PWM input on for engaging failsafe from an external automatic trigger system (ATS)",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 1900,
      "group": "Failure Detector",
      "longDesc": "External ATS is required by ASTM F3322-18.",
      "name": "FD_EXT_ATS_TRIG",
      "shortDesc": "The PWM threshold from external automatic trigger system for engaging failsafe",
      "type": "Int32",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 60,
      "group": "Failure Detector",
      "longDesc": "Maximum pitch angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check",
      "max": 180,
      "min": 0,
      "name": "FD_FAIL_P",
      "shortDesc": "FailureDetector Max Pitch",
      "type": "Int32",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.3,
      "group": "Failure Detector",
      "longDesc": "Seconds (decimal) that pitch has to exceed FD_FAIL_P before being considered as a failure.",
      "max": 5.0,
      "min": 0.02,
      "name": "FD_FAIL_P_TTRI",
      "shortDesc": "Pitch failure trigger time",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 60,
      "group": "Failure Detector",
      "longDesc": "Maximum roll angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check",
      "max": 180,
      "min": 0,
      "name": "FD_FAIL_R",
      "shortDesc": "FailureDetector Max Roll",
      "type": "Int32",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.3,
      "group": "Failure Detector",
      "longDesc": "Seconds (decimal) that roll has to exceed FD_FAIL_R before being considered as a failure.",
      "max": 5.0,
      "min": 0.02,
      "name": "FD_FAIL_R_TTRI",
      "shortDesc": "Roll failure trigger time",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 30,
      "group": "Failure Detector",
      "increment": 1,
      "longDesc": "Value at which the imbalanced propeller metric (based on horizontal and vertical acceleration variance) triggers a failure Setting this value to 0 disables the feature.",
      "max": 1000,
      "min": 0,
      "name": "FD_IMB_PROP_THR",
      "shortDesc": "Imbalanced propeller check threshold",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 1000.0,
      "group": "FlightTaskOrbit",
      "increment": 0.5,
      "max": 10000.0,
      "min": 1.0,
      "name": "MC_ORBIT_RAD_MAX",
      "shortDesc": "Maximum radius of orbit",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Follow target",
      "longDesc": "Maintain altitude or track target's altitude. When maintaining the altitude, the drone can crash into terrain when the target moves uphill. When tracking the target's altitude, the follow altitude FLW_TGT_HT should be high enough to prevent terrain collisions due to GPS inaccuracies of the target.",
      "name": "FLW_TGT_ALT_M",
      "shortDesc": "Altitude control mode",
      "type": "Int32",
      "values": [
        {
          "description": "2D Tracking: Maintain constant altitude relative to home and track XY position only",
          "value": 0
        },
        {
          "description": "2D + Terrain: Maintain constant altitude relative to terrain below and track XY position",
          "value": 1
        },
        {
          "description": "3D Tracking: Track target's altitude (be aware that GPS altitude bias usually makes this useless)",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "default": 8.0,
      "group": "Follow target",
      "longDesc": "The distance in meters to follow the target at",
      "min": 1.0,
      "name": "FLW_TGT_DST",
      "shortDesc": "Distance to follow target from",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 180.0,
      "group": "Follow target",
      "longDesc": "Angle to follow the target from. 0.0 Equals straight in front of the target's course (direction of motion) and the angle increases in clockwise direction, meaning Right-side would be 90.0 degrees while Left-side is -90.0 degrees Note: When the user force sets the angle out of the min/max range, it will be wrapped (e.g. 480 -> 120) in the range to gracefully handle the out of range.",
      "max": 180.0,
      "min": -180.0,
      "name": "FLW_TGT_FA",
      "shortDesc": "Follow Angle setting in degrees",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 8.0,
      "group": "Follow target",
      "longDesc": "Following height above the target",
      "min": 8.0,
      "name": "FLW_TGT_HT",
      "shortDesc": "Follow target height",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "Follow target",
      "longDesc": "This is the maximum tangential velocity the drone will circle around the target whenever an orbit angle setpoint changes. Higher value means more aggressive follow behavior.",
      "max": 20.0,
      "min": 0.0,
      "name": "FLW_TGT_MAX_VEL",
      "shortDesc": "Maximum tangential velocity setting for generating the follow orbit trajectory",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.1,
      "group": "Follow target",
      "longDesc": "lower values increase the responsiveness to changing position, but also ignore less noise",
      "max": 1.0,
      "min": 0.0,
      "name": "FLW_TGT_RS",
      "shortDesc": "Responsiveness to target movement in Target Estimator",
      "type": "Float"
    },
    {
      "bitmask": [
        {
          "description": "GPS (with QZSS)",
          "index": 0
        },
        {
          "description": "SBAS",
          "index": 1
        },
        {
          "description": "Galileo",
          "index": 2
        },
        {
          "description": "BeiDou",
          "index": 3
        },
        {
          "description": "GLONASS",
          "index": 4
        }
      ],
      "category": "Standard",
      "default": 0,
      "group": "GPS",
      "longDesc": "This integer bitmask controls the set of GNSS systems used by the receiver. Check your receiver's documentation on how many systems are supported to be used in parallel. Currently this functionality is just implemented for u-blox receivers. When no bits are set, the receiver's default configuration should be used. Set bits true to enable: 0 : Use GPS (with QZSS) 1 : Use SBAS (multiple GPS augmentation systems) 2 : Use Galileo 3 : Use BeiDou 4 : Use GLONASS",
      "max": 31,
      "min": 0,
      "name": "GPS_1_GNSS",
      "rebootRequired": true,
      "shortDesc": "GNSS Systems for Primary GPS (integer bitmask)",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "GPS",
      "longDesc": "Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.",
      "max": 7,
      "min": 0,
      "name": "GPS_1_PROTOCOL",
      "rebootRequired": true,
      "shortDesc": "Protocol for Main GPS",
      "type": "Int32",
      "values": [
        {
          "description": "Auto detect",
          "value": 0
        },
        {
          "description": "u-blox",
          "value": 1
        },
        {
          "description": "MTK",
          "value": 2
        },
        {
          "description": "Ashtech / Trimble",
          "value": 3
        },
        {
          "description": "Emlid Reach",
          "value": 4
        },
        {
          "description": "Femtomes",
          "value": 5
        },
        {
          "description": "NMEA (generic)",
          "value": 6
        },
        {
          "description": "Septentrio (SBF)",
          "value": 7
        }
      ]
    },
    {
      "bitmask": [
        {
          "description": "GPS (with QZSS)",
          "index": 0
        },
        {
          "description": "SBAS",
          "index": 1
        },
        {
          "description": "Galileo",
          "index": 2
        },
        {
          "description": "BeiDou",
          "index": 3
        },
        {
          "description": "GLONASS",
          "index": 4
        }
      ],
      "category": "Standard",
      "default": 0,
      "group": "GPS",
      "longDesc": "This integer bitmask controls the set of GNSS systems used by the receiver. Check your receiver's documentation on how many systems are supported to be used in parallel. Currently this functionality is just implemented for u-blox receivers. When no bits are set, the receiver's default configuration should be used. Set bits true to enable: 0 : Use GPS (with QZSS) 1 : Use SBAS (multiple GPS augmentation systems) 2 : Use Galileo 3 : Use BeiDou 4 : Use GLONASS",
      "max": 31,
      "min": 0,
      "name": "GPS_2_GNSS",
      "rebootRequired": true,
      "shortDesc": "GNSS Systems for Secondary GPS (integer bitmask)",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "GPS",
      "longDesc": "Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.",
      "max": 6,
      "min": 0,
      "name": "GPS_2_PROTOCOL",
      "rebootRequired": true,
      "shortDesc": "Protocol for Secondary GPS",
      "type": "Int32",
      "values": [
        {
          "description": "Auto detect",
          "value": 0
        },
        {
          "description": "u-blox",
          "value": 1
        },
        {
          "description": "MTK",
          "value": 2
        },
        {
          "description": "Ashtech / Trimble",
          "value": 3
        },
        {
          "description": "Emlid Reach",
          "value": 4
        },
        {
          "description": "Femtomes",
          "value": 5
        },
        {
          "description": "NMEA (generic)",
          "value": 6
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "GPS",
      "longDesc": "If this is set to 1, all GPS communication data will be published via uORB, and written to the log file as gps_dump message. If this is set to 2, the main GPS is configured to output RTCM data, which is then logged as gps_dump and can be used for PPK.",
      "max": 2,
      "min": 0,
      "name": "GPS_DUMP_COMM",
      "shortDesc": "Log GPS communication data",
      "type": "Int32",
      "values": [
        {
          "description": "Disable",
          "value": 0
        },
        {
          "description": "Full communication",
          "value": 1
        },
        {
          "description": "RTCM output (PPK)",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "GPS",
      "longDesc": "Vertical offsets can be compensated for by adjusting the Pitch offset (Septentrio). Note that this can be interpreted as the \"roll\" angle in case the antennas are aligned along the perpendicular axis. This occurs in situations where the two antenna ARPs may not be exactly at the same height in the vehicle reference frame. Since pitch is defined as the right-handed rotation about the vehicle Y axis, a situation where the main antenna is mounted lower than the aux antenna (assuming the default antenna setup) will result in a positive pitch.",
      "max": 90.0,
      "min": -90.0,
      "name": "GPS_PITCH_OFFSET",
      "rebootRequired": true,
      "shortDesc": "Pitch offset for dual antenna GPS",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "GPS",
      "longDesc": "Enable publication of satellite info (ORB_ID(satellite_info)) if possible. Not available on MTK.",
      "name": "GPS_SAT_INFO",
      "rebootRequired": true,
      "shortDesc": "Enable sat info (if available)",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 230400,
      "group": "GPS",
      "longDesc": "Select a baudrate for the F9P's UART2 port. In GPS_UBX_MODE 1, 2, and 3, the F9P's UART2 port is configured to send/receive RTCM corrections. Set this to 57600 if you want to attach a telemetry radio on UART2.",
      "min": 0,
      "name": "GPS_UBX_BAUD2",
      "rebootRequired": true,
      "shortDesc": "u-blox F9P UART2 Baudrate",
      "type": "Int32",
      "units": "B/s"
    },
    {
      "bitmask": [
        {
          "description": "Enable I2C input protocol UBX",
          "index": 0
        },
        {
          "description": "Enable I2C input protocol NMEA",
          "index": 1
        },
        {
          "description": "Enable I2C input protocol RTCM3X",
          "index": 2
        },
        {
          "description": "Enable I2C output protocol UBX",
          "index": 3
        },
        {
          "description": "Enable I2C output protocol NMEA",
          "index": 4
        },
        {
          "description": "Enable I2C output protocol RTCM3X",
          "index": 5
        }
      ],
      "category": "Standard",
      "default": 0,
      "group": "GPS",
      "max": 32,
      "min": 0,
      "name": "GPS_UBX_CFG_INTF",
      "rebootRequired": true,
      "shortDesc": "u-blox protocol configuration for interfaces",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 7,
      "group": "GPS",
      "longDesc": "u-blox receivers support different dynamic platform models to adjust the navigation engine to the expected application environment.",
      "max": 9,
      "min": 0,
      "name": "GPS_UBX_DYNMODEL",
      "rebootRequired": true,
      "shortDesc": "u-blox GPS dynamic platform model",
      "type": "Int32",
      "values": [
        {
          "description": "stationary",
          "value": 2
        },
        {
          "description": "automotive",
          "value": 4
        },
        {
          "description": "airborne with <1g acceleration",
          "value": 6
        },
        {
          "description": "airborne with <2g acceleration",
          "value": 7
        },
        {
          "description": "airborne with <4g acceleration",
          "value": 8
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "GPS",
      "longDesc": "Select the u-blox configuration setup. Most setups will use the default, including RTK and dual GPS without heading. If rover has RTCM corrections from a static base (or other static correction source) coming in on UART2, then select Mode 5. The Heading mode requires 2 F9P devices to be attached. The main GPS will act as rover and output heading information, whereas the secondary will act as moving base. Modes 1 and 2 require each F9P UART1 to be connected to the Autopilot. In addition, UART2 on the F9P units are connected to each other. Modes 3 and 4 only require UART1 on each F9P connected to the Autopilot or Can Node. UART RX DMA is required. RTK is still possible with this setup.",
      "max": 1,
      "min": 0,
      "name": "GPS_UBX_MODE",
      "rebootRequired": true,
      "shortDesc": "u-blox GPS Mode",
      "type": "Int32",
      "values": [
        {
          "description": "Default",
          "value": 0
        },
        {
          "description": "Heading (Rover With Moving Base UART1 Connected To Autopilot, UART2 Connected To Moving Base)",
          "value": 1
        },
        {
          "description": "Moving Base (UART1 Connected To Autopilot, UART2 Connected To Rover)",
          "value": 2
        },
        {
          "description": "Heading (Rover With Moving Base UART1 Connected to Autopilot Or Can Node At 921600)",
          "value": 3
        },
        {
          "description": "Moving Base (Moving Base UART1 Connected to Autopilot Or Can Node At 921600)",
          "value": 4
        },
        {
          "description": "Rover with Static Base on UART2 (similar to Default, except coming in on UART2)",
          "value": 5
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "GPS",
      "longDesc": "Heading offset angle for dual antenna GPS setups that support heading estimation. Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the rover (or Unicore primary) antenna is in front. The offset angle increases clockwise. Set this to 90 if the rover (or Unicore primary) antenna is placed on the right side of the vehicle and the moving base antenna is on the left side. (Note: the Unicore primary antenna is the one connected on the right as seen from the top).",
      "max": 360.0,
      "min": 0.0,
      "name": "GPS_YAW_OFFSET",
      "rebootRequired": true,
      "shortDesc": "Heading/Yaw offset for dual antenna GPS",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "default": 2,
      "group": "Geofence",
      "longDesc": "Note: Setting this value to 4 enables flight termination, which will kill the vehicle on violation of the fence.",
      "max": 5,
      "min": 0,
      "name": "GF_ACTION",
      "shortDesc": "Geofence violation action",
      "type": "Int32",
      "values": [
        {
          "description": "None",
          "value": 0
        },
        {
          "description": "Warning",
          "value": 1
        },
        {
          "description": "Hold mode",
          "value": 2
        },
        {
          "description": "Return mode",
          "value": 3
        },
        {
          "description": "Terminate",
          "value": 4
        },
        {
          "description": "Land mode",
          "value": 5
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geofence",
      "longDesc": "Select which altitude (AMSL) source should be used for geofence calculations.",
      "max": 1,
      "min": 0,
      "name": "GF_ALTMODE",
      "shortDesc": "Geofence altitude mode",
      "type": "Int32",
      "values": [
        {
          "description": "Autopilot estimator global position altitude (GPS)",
          "value": 0
        },
        {
          "description": "Raw barometer altitude (assuming standard atmospheric pressure)",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": -1,
      "group": "Geofence",
      "increment": 1,
      "longDesc": "Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered",
      "max": 10,
      "min": -1,
      "name": "GF_COUNT",
      "shortDesc": "Geofence counter limit",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "Geofence",
      "increment": 1.0,
      "longDesc": "Maximum horizontal distance in meters the vehicle can be from home before triggering a geofence action. Disabled if 0.",
      "max": 10000.0,
      "min": 0.0,
      "name": "GF_MAX_HOR_DIST",
      "shortDesc": "Max horizontal distance in meters",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "Geofence",
      "increment": 1.0,
      "longDesc": "Maximum vertical distance in meters the vehicle can be from home before triggering a geofence action. Disabled if 0.",
      "max": 10000.0,
      "min": 0.0,
      "name": "GF_MAX_VER_DIST",
      "shortDesc": "Max vertical distance in meters",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Geofence",
      "longDesc": "Predict the motion of the vehicle and trigger the breach if it is determined that the current trajectory would result in a breach happening before the vehicle can make evasive maneuvers. The vehicle is then re-routed to a safe hold position (stop for multirotor, loiter for fixed wing).",
      "name": "GF_PREDICT",
      "shortDesc": "Use Pre-emptive geofence triggering",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geofence",
      "longDesc": "Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS",
      "max": 1,
      "min": 0,
      "name": "GF_SOURCE",
      "shortDesc": "Geofence source",
      "type": "Int32",
      "values": [
        {
          "description": "GPOS",
          "value": 0
        },
        {
          "description": "GPS",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "longDesc": "Defines which mixer implementation to use. Some are generic, while others are specifically fit to a certain vehicle with a fixed set of actuators. 'Custom' should only be used if noting else can be used.",
      "name": "CA_AIRFRAME",
      "shortDesc": "Airframe selection",
      "type": "Int32",
      "values": [
        {
          "description": "Multirotor",
          "value": 0
        },
        {
          "description": "Fixed-wing",
          "value": 1
        },
        {
          "description": "Standard VTOL",
          "value": 2
        },
        {
          "description": "Tiltrotor VTOL",
          "value": 3
        },
        {
          "description": "Tailsitter VTOL",
          "value": 4
        },
        {
          "description": "Rover (Ackermann)",
          "value": 5
        },
        {
          "description": "Rover (Differential)",
          "value": 6
        },
        {
          "description": "Motors (6DOF)",
          "value": 7
        },
        {
          "description": "Multirotor with Tilt",
          "value": 8
        },
        {
          "description": "Custom",
          "value": 9
        },
        {
          "description": "Helicopter",
          "value": 10
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "longDesc": "This is used to specify how to handle motor failures reported by failure detector.",
      "name": "CA_FAILURE_MODE",
      "shortDesc": "Motor failure handling mode",
      "type": "Int32",
      "values": [
        {
          "description": "Ignore",
          "value": 0
        },
        {
          "description": "Remove first failed motor from effectiveness",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": -0.05,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Defines the collective pitch at the interval position 0 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_HELI_PITCH_C0",
      "shortDesc": "Collective pitch curve at position 0",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0725,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Defines the collective pitch at the interval position 1 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_HELI_PITCH_C1",
      "shortDesc": "Collective pitch curve at position 1",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.2,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Defines the collective pitch at the interval position 2 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_HELI_PITCH_C2",
      "shortDesc": "Collective pitch curve at position 2",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.325,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Defines the collective pitch at the interval position 3 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_HELI_PITCH_C3",
      "shortDesc": "Collective pitch curve at position 3",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.45,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Defines the collective pitch at the interval position 4 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_HELI_PITCH_C4",
      "shortDesc": "Collective pitch curve at position 4",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Defines the output throttle at the interval position 0.",
      "max": 1.0,
      "min": 0.0,
      "name": "CA_HELI_THR_C0",
      "shortDesc": "Throttle curve at position 0",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Defines the output throttle at the interval position 1.",
      "max": 1.0,
      "min": 0.0,
      "name": "CA_HELI_THR_C1",
      "shortDesc": "Throttle curve at position 1",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Defines the output throttle at the interval position 2.",
      "max": 1.0,
      "min": 0.0,
      "name": "CA_HELI_THR_C2",
      "shortDesc": "Throttle curve at position 2",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Defines the output throttle at the interval position 3.",
      "max": 1.0,
      "min": 0.0,
      "name": "CA_HELI_THR_C3",
      "shortDesc": "Throttle curve at position 3",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Defines the output throttle at the interval position 4.",
      "max": 1.0,
      "min": 0.0,
      "name": "CA_HELI_THR_C4",
      "shortDesc": "Throttle curve at position 4",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "longDesc": "Default configuration is for a clockwise turning main rotor and positive thrust of the tail rotor is expected to rotate the vehicle clockwise. Set this parameter to true if the tail rotor provides thrust in counter-clockwise direction which is mostly the case when the main rotor turns counter-clockwise.",
      "name": "CA_HELI_YAW_CCW",
      "shortDesc": "Main rotor turns counter-clockwise",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "This allows to specify which collective pitch command results in the least amount of rotor drag. This is used to increase the accuracy of the yaw drag torque compensation based on collective pitch by aligning the lowest rotor drag with zero compensation. For symmetric profile blades this is the command that results in exactly 0\u00b0 collective blade angle. For lift profile blades this is typically a command resulting in slightly negative collective blade angle. tail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)",
      "max": 2.0,
      "min": -2.0,
      "name": "CA_HELI_YAW_CP_O",
      "shortDesc": "Offset for yaw compensation based on collective pitch",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "This allows to add a proportional factor of the collective pitch command to the yaw command. A negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction. tail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)",
      "max": 2.0,
      "min": -2.0,
      "name": "CA_HELI_YAW_CP_S",
      "shortDesc": "Scale for yaw compensation based on collective pitch",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "This allows to add a proportional factor of the throttle command to the yaw command. A negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction. tail_output += CA_HELI_YAW_TH_S * throttle",
      "max": 2.0,
      "min": -2.0,
      "name": "CA_HELI_YAW_TH_S",
      "shortDesc": "Scale for yaw compensation based on throttle",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 2,
      "group": "Geometry",
      "longDesc": "Selects the algorithm and desaturation method. If set to Automtic, the selection is based on the airframe (CA_AIRFRAME).",
      "name": "CA_METHOD",
      "shortDesc": "Control allocation method",
      "type": "Int32",
      "values": [
        {
          "description": "Pseudo-inverse with output clipping",
          "value": 0
        },
        {
          "description": "Pseudo-inverse with sequential desaturation technique",
          "value": 1
        },
        {
          "description": "Automatic",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_R0_SLEW",
      "shortDesc": "Motor 0 slew rate limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_R10_SLEW",
      "shortDesc": "Motor 10 slew rate limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_R11_SLEW",
      "shortDesc": "Motor 11 slew rate limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_R1_SLEW",
      "shortDesc": "Motor 1 slew rate limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_R2_SLEW",
      "shortDesc": "Motor 2 slew rate limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_R3_SLEW",
      "shortDesc": "Motor 3 slew rate limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_R4_SLEW",
      "shortDesc": "Motor 4 slew rate limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_R5_SLEW",
      "shortDesc": "Motor 5 slew rate limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_R6_SLEW",
      "shortDesc": "Motor 6 slew rate limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_R7_SLEW",
      "shortDesc": "Motor 7 slew rate limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_R8_SLEW",
      "shortDesc": "Motor 8 slew rate limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_R9_SLEW",
      "shortDesc": "Motor 9 slew rate limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR0_AX",
      "shortDesc": "Axis of rotor 0 thrust vector, X body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR0_AY",
      "shortDesc": "Axis of rotor 0 thrust vector, Y body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": -1.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR0_AZ",
      "shortDesc": "Axis of rotor 0 thrust vector, Z body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 6.5,
      "group": "Geometry",
      "increment": 1.0,
      "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.",
      "max": 100.0,
      "min": 0.0,
      "name": "CA_ROTOR0_CT",
      "shortDesc": "Thrust coefficient of rotor 0",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.05,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_ROTOR0_KM",
      "shortDesc": "Moment coefficient of rotor 0",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR0_PX",
      "shortDesc": "Position of rotor 0 along X body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR0_PY",
      "shortDesc": "Position of rotor 0 along Y body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR0_PZ",
      "shortDesc": "Position of rotor 0 along Z body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.",
      "name": "CA_ROTOR0_TILT",
      "shortDesc": "Rotor 0 tilt assignment",
      "type": "Int32",
      "values": [
        {
          "description": "None",
          "value": 0
        },
        {
          "description": "Tilt 1",
          "value": 1
        },
        {
          "description": "Tilt 2",
          "value": 2
        },
        {
          "description": "Tilt 3",
          "value": 3
        },
        {
          "description": "Tilt 4",
          "value": 4
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR10_AX",
      "shortDesc": "Axis of rotor 10 thrust vector, X body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR10_AY",
      "shortDesc": "Axis of rotor 10 thrust vector, Y body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": -1.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR10_AZ",
      "shortDesc": "Axis of rotor 10 thrust vector, Z body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 6.5,
      "group": "Geometry",
      "increment": 1.0,
      "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.",
      "max": 100.0,
      "min": 0.0,
      "name": "CA_ROTOR10_CT",
      "shortDesc": "Thrust coefficient of rotor 10",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.05,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_ROTOR10_KM",
      "shortDesc": "Moment coefficient of rotor 10",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR10_PX",
      "shortDesc": "Position of rotor 10 along X body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR10_PY",
      "shortDesc": "Position of rotor 10 along Y body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR10_PZ",
      "shortDesc": "Position of rotor 10 along Z body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.",
      "name": "CA_ROTOR10_TILT",
      "shortDesc": "Rotor 10 tilt assignment",
      "type": "Int32",
      "values": [
        {
          "description": "None",
          "value": 0
        },
        {
          "description": "Tilt 1",
          "value": 1
        },
        {
          "description": "Tilt 2",
          "value": 2
        },
        {
          "description": "Tilt 3",
          "value": 3
        },
        {
          "description": "Tilt 4",
          "value": 4
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR11_AX",
      "shortDesc": "Axis of rotor 11 thrust vector, X body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR11_AY",
      "shortDesc": "Axis of rotor 11 thrust vector, Y body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": -1.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR11_AZ",
      "shortDesc": "Axis of rotor 11 thrust vector, Z body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 6.5,
      "group": "Geometry",
      "increment": 1.0,
      "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.",
      "max": 100.0,
      "min": 0.0,
      "name": "CA_ROTOR11_CT",
      "shortDesc": "Thrust coefficient of rotor 11",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.05,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_ROTOR11_KM",
      "shortDesc": "Moment coefficient of rotor 11",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR11_PX",
      "shortDesc": "Position of rotor 11 along X body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR11_PY",
      "shortDesc": "Position of rotor 11 along Y body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR11_PZ",
      "shortDesc": "Position of rotor 11 along Z body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.",
      "name": "CA_ROTOR11_TILT",
      "shortDesc": "Rotor 11 tilt assignment",
      "type": "Int32",
      "values": [
        {
          "description": "None",
          "value": 0
        },
        {
          "description": "Tilt 1",
          "value": 1
        },
        {
          "description": "Tilt 2",
          "value": 2
        },
        {
          "description": "Tilt 3",
          "value": 3
        },
        {
          "description": "Tilt 4",
          "value": 4
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR1_AX",
      "shortDesc": "Axis of rotor 1 thrust vector, X body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR1_AY",
      "shortDesc": "Axis of rotor 1 thrust vector, Y body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": -1.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR1_AZ",
      "shortDesc": "Axis of rotor 1 thrust vector, Z body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 6.5,
      "group": "Geometry",
      "increment": 1.0,
      "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.",
      "max": 100.0,
      "min": 0.0,
      "name": "CA_ROTOR1_CT",
      "shortDesc": "Thrust coefficient of rotor 1",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.05,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_ROTOR1_KM",
      "shortDesc": "Moment coefficient of rotor 1",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR1_PX",
      "shortDesc": "Position of rotor 1 along X body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR1_PY",
      "shortDesc": "Position of rotor 1 along Y body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR1_PZ",
      "shortDesc": "Position of rotor 1 along Z body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.",
      "name": "CA_ROTOR1_TILT",
      "shortDesc": "Rotor 1 tilt assignment",
      "type": "Int32",
      "values": [
        {
          "description": "None",
          "value": 0
        },
        {
          "description": "Tilt 1",
          "value": 1
        },
        {
          "description": "Tilt 2",
          "value": 2
        },
        {
          "description": "Tilt 3",
          "value": 3
        },
        {
          "description": "Tilt 4",
          "value": 4
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR2_AX",
      "shortDesc": "Axis of rotor 2 thrust vector, X body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR2_AY",
      "shortDesc": "Axis of rotor 2 thrust vector, Y body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": -1.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR2_AZ",
      "shortDesc": "Axis of rotor 2 thrust vector, Z body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 6.5,
      "group": "Geometry",
      "increment": 1.0,
      "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.",
      "max": 100.0,
      "min": 0.0,
      "name": "CA_ROTOR2_CT",
      "shortDesc": "Thrust coefficient of rotor 2",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.05,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_ROTOR2_KM",
      "shortDesc": "Moment coefficient of rotor 2",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR2_PX",
      "shortDesc": "Position of rotor 2 along X body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR2_PY",
      "shortDesc": "Position of rotor 2 along Y body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR2_PZ",
      "shortDesc": "Position of rotor 2 along Z body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.",
      "name": "CA_ROTOR2_TILT",
      "shortDesc": "Rotor 2 tilt assignment",
      "type": "Int32",
      "values": [
        {
          "description": "None",
          "value": 0
        },
        {
          "description": "Tilt 1",
          "value": 1
        },
        {
          "description": "Tilt 2",
          "value": 2
        },
        {
          "description": "Tilt 3",
          "value": 3
        },
        {
          "description": "Tilt 4",
          "value": 4
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR3_AX",
      "shortDesc": "Axis of rotor 3 thrust vector, X body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR3_AY",
      "shortDesc": "Axis of rotor 3 thrust vector, Y body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": -1.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR3_AZ",
      "shortDesc": "Axis of rotor 3 thrust vector, Z body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 6.5,
      "group": "Geometry",
      "increment": 1.0,
      "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.",
      "max": 100.0,
      "min": 0.0,
      "name": "CA_ROTOR3_CT",
      "shortDesc": "Thrust coefficient of rotor 3",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.05,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_ROTOR3_KM",
      "shortDesc": "Moment coefficient of rotor 3",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR3_PX",
      "shortDesc": "Position of rotor 3 along X body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR3_PY",
      "shortDesc": "Position of rotor 3 along Y body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR3_PZ",
      "shortDesc": "Position of rotor 3 along Z body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.",
      "name": "CA_ROTOR3_TILT",
      "shortDesc": "Rotor 3 tilt assignment",
      "type": "Int32",
      "values": [
        {
          "description": "None",
          "value": 0
        },
        {
          "description": "Tilt 1",
          "value": 1
        },
        {
          "description": "Tilt 2",
          "value": 2
        },
        {
          "description": "Tilt 3",
          "value": 3
        },
        {
          "description": "Tilt 4",
          "value": 4
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR4_AX",
      "shortDesc": "Axis of rotor 4 thrust vector, X body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR4_AY",
      "shortDesc": "Axis of rotor 4 thrust vector, Y body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": -1.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR4_AZ",
      "shortDesc": "Axis of rotor 4 thrust vector, Z body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 6.5,
      "group": "Geometry",
      "increment": 1.0,
      "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.",
      "max": 100.0,
      "min": 0.0,
      "name": "CA_ROTOR4_CT",
      "shortDesc": "Thrust coefficient of rotor 4",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.05,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_ROTOR4_KM",
      "shortDesc": "Moment coefficient of rotor 4",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR4_PX",
      "shortDesc": "Position of rotor 4 along X body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR4_PY",
      "shortDesc": "Position of rotor 4 along Y body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR4_PZ",
      "shortDesc": "Position of rotor 4 along Z body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.",
      "name": "CA_ROTOR4_TILT",
      "shortDesc": "Rotor 4 tilt assignment",
      "type": "Int32",
      "values": [
        {
          "description": "None",
          "value": 0
        },
        {
          "description": "Tilt 1",
          "value": 1
        },
        {
          "description": "Tilt 2",
          "value": 2
        },
        {
          "description": "Tilt 3",
          "value": 3
        },
        {
          "description": "Tilt 4",
          "value": 4
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR5_AX",
      "shortDesc": "Axis of rotor 5 thrust vector, X body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR5_AY",
      "shortDesc": "Axis of rotor 5 thrust vector, Y body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": -1.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR5_AZ",
      "shortDesc": "Axis of rotor 5 thrust vector, Z body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 6.5,
      "group": "Geometry",
      "increment": 1.0,
      "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.",
      "max": 100.0,
      "min": 0.0,
      "name": "CA_ROTOR5_CT",
      "shortDesc": "Thrust coefficient of rotor 5",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.05,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_ROTOR5_KM",
      "shortDesc": "Moment coefficient of rotor 5",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR5_PX",
      "shortDesc": "Position of rotor 5 along X body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR5_PY",
      "shortDesc": "Position of rotor 5 along Y body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR5_PZ",
      "shortDesc": "Position of rotor 5 along Z body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.",
      "name": "CA_ROTOR5_TILT",
      "shortDesc": "Rotor 5 tilt assignment",
      "type": "Int32",
      "values": [
        {
          "description": "None",
          "value": 0
        },
        {
          "description": "Tilt 1",
          "value": 1
        },
        {
          "description": "Tilt 2",
          "value": 2
        },
        {
          "description": "Tilt 3",
          "value": 3
        },
        {
          "description": "Tilt 4",
          "value": 4
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR6_AX",
      "shortDesc": "Axis of rotor 6 thrust vector, X body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR6_AY",
      "shortDesc": "Axis of rotor 6 thrust vector, Y body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": -1.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR6_AZ",
      "shortDesc": "Axis of rotor 6 thrust vector, Z body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 6.5,
      "group": "Geometry",
      "increment": 1.0,
      "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.",
      "max": 100.0,
      "min": 0.0,
      "name": "CA_ROTOR6_CT",
      "shortDesc": "Thrust coefficient of rotor 6",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.05,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_ROTOR6_KM",
      "shortDesc": "Moment coefficient of rotor 6",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR6_PX",
      "shortDesc": "Position of rotor 6 along X body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR6_PY",
      "shortDesc": "Position of rotor 6 along Y body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR6_PZ",
      "shortDesc": "Position of rotor 6 along Z body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.",
      "name": "CA_ROTOR6_TILT",
      "shortDesc": "Rotor 6 tilt assignment",
      "type": "Int32",
      "values": [
        {
          "description": "None",
          "value": 0
        },
        {
          "description": "Tilt 1",
          "value": 1
        },
        {
          "description": "Tilt 2",
          "value": 2
        },
        {
          "description": "Tilt 3",
          "value": 3
        },
        {
          "description": "Tilt 4",
          "value": 4
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR7_AX",
      "shortDesc": "Axis of rotor 7 thrust vector, X body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR7_AY",
      "shortDesc": "Axis of rotor 7 thrust vector, Y body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": -1.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR7_AZ",
      "shortDesc": "Axis of rotor 7 thrust vector, Z body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 6.5,
      "group": "Geometry",
      "increment": 1.0,
      "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.",
      "max": 100.0,
      "min": 0.0,
      "name": "CA_ROTOR7_CT",
      "shortDesc": "Thrust coefficient of rotor 7",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.05,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_ROTOR7_KM",
      "shortDesc": "Moment coefficient of rotor 7",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR7_PX",
      "shortDesc": "Position of rotor 7 along X body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR7_PY",
      "shortDesc": "Position of rotor 7 along Y body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR7_PZ",
      "shortDesc": "Position of rotor 7 along Z body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.",
      "name": "CA_ROTOR7_TILT",
      "shortDesc": "Rotor 7 tilt assignment",
      "type": "Int32",
      "values": [
        {
          "description": "None",
          "value": 0
        },
        {
          "description": "Tilt 1",
          "value": 1
        },
        {
          "description": "Tilt 2",
          "value": 2
        },
        {
          "description": "Tilt 3",
          "value": 3
        },
        {
          "description": "Tilt 4",
          "value": 4
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR8_AX",
      "shortDesc": "Axis of rotor 8 thrust vector, X body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR8_AY",
      "shortDesc": "Axis of rotor 8 thrust vector, Y body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": -1.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR8_AZ",
      "shortDesc": "Axis of rotor 8 thrust vector, Z body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 6.5,
      "group": "Geometry",
      "increment": 1.0,
      "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.",
      "max": 100.0,
      "min": 0.0,
      "name": "CA_ROTOR8_CT",
      "shortDesc": "Thrust coefficient of rotor 8",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.05,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_ROTOR8_KM",
      "shortDesc": "Moment coefficient of rotor 8",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR8_PX",
      "shortDesc": "Position of rotor 8 along X body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR8_PY",
      "shortDesc": "Position of rotor 8 along Y body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR8_PZ",
      "shortDesc": "Position of rotor 8 along Z body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.",
      "name": "CA_ROTOR8_TILT",
      "shortDesc": "Rotor 8 tilt assignment",
      "type": "Int32",
      "values": [
        {
          "description": "None",
          "value": 0
        },
        {
          "description": "Tilt 1",
          "value": 1
        },
        {
          "description": "Tilt 2",
          "value": 2
        },
        {
          "description": "Tilt 3",
          "value": 3
        },
        {
          "description": "Tilt 4",
          "value": 4
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR9_AX",
      "shortDesc": "Axis of rotor 9 thrust vector, X body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR9_AY",
      "shortDesc": "Axis of rotor 9 thrust vector, Y body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": -1.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "Only the direction is considered (the vector is normalized).",
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR9_AZ",
      "shortDesc": "Axis of rotor 9 thrust vector, Z body axis component",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 6.5,
      "group": "Geometry",
      "increment": 1.0,
      "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.",
      "max": 100.0,
      "min": 0.0,
      "name": "CA_ROTOR9_CT",
      "shortDesc": "Thrust coefficient of rotor 9",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.05,
      "group": "Geometry",
      "increment": 0.01,
      "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_ROTOR9_KM",
      "shortDesc": "Moment coefficient of rotor 9",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR9_PX",
      "shortDesc": "Position of rotor 9 along X body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR9_PY",
      "shortDesc": "Position of rotor 9 along Y body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.1,
      "max": 100.0,
      "min": -100.0,
      "name": "CA_ROTOR9_PZ",
      "shortDesc": "Position of rotor 9 along Z body axis",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.",
      "name": "CA_ROTOR9_TILT",
      "shortDesc": "Rotor 9 tilt assignment",
      "type": "Int32",
      "values": [
        {
          "description": "None",
          "value": 0
        },
        {
          "description": "Tilt 1",
          "value": 1
        },
        {
          "description": "Tilt 2",
          "value": 2
        },
        {
          "description": "Tilt 3",
          "value": 3
        },
        {
          "description": "Tilt 4",
          "value": 4
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "name": "CA_ROTOR_COUNT",
      "shortDesc": "Total number of rotors",
      "type": "Int32",
      "values": [
        {
          "description": "0",
          "value": 0
        },
        {
          "description": "1",
          "value": 1
        },
        {
          "description": "2",
          "value": 2
        },
        {
          "description": "3",
          "value": 3
        },
        {
          "description": "4",
          "value": 4
        },
        {
          "description": "5",
          "value": 5
        },
        {
          "description": "6",
          "value": 6
        },
        {
          "description": "7",
          "value": 7
        },
        {
          "description": "8",
          "value": 8
        },
        {
          "description": "9",
          "value": 9
        },
        {
          "description": "10",
          "value": 10
        },
        {
          "description": "11",
          "value": 11
        },
        {
          "description": "12",
          "value": 12
        }
      ]
    },
    {
      "bitmask": [
        {
          "description": "Motor 1",
          "index": 0
        },
        {
          "description": "Motor 2",
          "index": 1
        },
        {
          "description": "Motor 3",
          "index": 2
        },
        {
          "description": "Motor 4",
          "index": 3
        },
        {
          "description": "Motor 5",
          "index": 4
        },
        {
          "description": "Motor 6",
          "index": 5
        },
        {
          "description": "Motor 7",
          "index": 6
        },
        {
          "description": "Motor 8",
          "index": 7
        },
        {
          "description": "Motor 9",
          "index": 8
        },
        {
          "description": "Motor 10",
          "index": 9
        },
        {
          "description": "Motor 11",
          "index": 10
        },
        {
          "description": "Motor 12",
          "index": 11
        }
      ],
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "longDesc": "Configure motors to be bidirectional/reversible. Note that the output driver needs to support this as well.",
      "max": 4095,
      "min": 0,
      "name": "CA_R_REV",
      "shortDesc": "Bidirectional/Reversible motors",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "decimalPlaces": 0,
      "default": 0.0,
      "group": "Geometry",
      "increment": 10.0,
      "longDesc": "The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).",
      "max": 360.0,
      "min": 0.0,
      "name": "CA_SP0_ANG0",
      "shortDesc": "Angle for swash plate servo 0",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 0,
      "default": 140.0,
      "group": "Geometry",
      "increment": 10.0,
      "longDesc": "The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).",
      "max": 360.0,
      "min": 0.0,
      "name": "CA_SP0_ANG1",
      "shortDesc": "Angle for swash plate servo 1",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 0,
      "default": 220.0,
      "group": "Geometry",
      "increment": 10.0,
      "longDesc": "The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).",
      "max": 360.0,
      "min": 0.0,
      "name": "CA_SP0_ANG2",
      "shortDesc": "Angle for swash plate servo 2",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 0,
      "default": 0.0,
      "group": "Geometry",
      "increment": 10.0,
      "longDesc": "The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).",
      "max": 360.0,
      "min": 0.0,
      "name": "CA_SP0_ANG3",
      "shortDesc": "Angle for swash plate servo 3",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "This is relative to the other arm lengths.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_SP0_ARM_L0",
      "shortDesc": "Arm length for swash plate servo 0",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "This is relative to the other arm lengths.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_SP0_ARM_L1",
      "shortDesc": "Arm length for swash plate servo 1",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "This is relative to the other arm lengths.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_SP0_ARM_L2",
      "shortDesc": "Arm length for swash plate servo 2",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Geometry",
      "increment": 0.1,
      "longDesc": "This is relative to the other arm lengths.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_SP0_ARM_L3",
      "shortDesc": "Arm length for swash plate servo 3",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 3,
      "group": "Geometry",
      "name": "CA_SP0_COUNT",
      "shortDesc": "Number of swash plates servos",
      "type": "Int32",
      "values": [
        {
          "description": "3",
          "value": 3
        },
        {
          "description": "4",
          "value": 4
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.05,
      "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_SV0_SLEW",
      "shortDesc": "Servo 0 slew rate limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.05,
      "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_SV1_SLEW",
      "shortDesc": "Servo 1 slew rate limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.05,
      "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_SV2_SLEW",
      "shortDesc": "Servo 2 slew rate limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.05,
      "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_SV3_SLEW",
      "shortDesc": "Servo 3 slew rate limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.05,
      "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_SV4_SLEW",
      "shortDesc": "Servo 4 slew rate limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.05,
      "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_SV5_SLEW",
      "shortDesc": "Servo 5 slew rate limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.05,
      "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_SV6_SLEW",
      "shortDesc": "Servo 6 slew rate limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "increment": 0.05,
      "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.",
      "max": 10.0,
      "min": 0.0,
      "name": "CA_SV7_SLEW",
      "shortDesc": "Servo 7 slew rate limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS0_FLAP",
      "shortDesc": "Control Surface 0 configuration as flap",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS0_SPOIL",
      "shortDesc": "Control Surface 0 configuration as spoiler",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "longDesc": "Can be used to add an offset to the servo control.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS0_TRIM",
      "shortDesc": "Control Surface 0 trim",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS0_TRQ_P",
      "shortDesc": "Control Surface 0 pitch torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS0_TRQ_R",
      "shortDesc": "Control Surface 0 roll torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS0_TRQ_Y",
      "shortDesc": "Control Surface 0 yaw torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "name": "CA_SV_CS0_TYPE",
      "shortDesc": "Control Surface 0 type",
      "type": "Int32",
      "values": [
        {
          "description": "(Not set)",
          "value": 0
        },
        {
          "description": "Left Aileron",
          "value": 1
        },
        {
          "description": "Right Aileron",
          "value": 2
        },
        {
          "description": "Elevator",
          "value": 3
        },
        {
          "description": "Rudder",
          "value": 4
        },
        {
          "description": "Left Elevon",
          "value": 5
        },
        {
          "description": "Right Elevon",
          "value": 6
        },
        {
          "description": "Left V-Tail",
          "value": 7
        },
        {
          "description": "Right V-Tail",
          "value": 8
        },
        {
          "description": "Left Flap",
          "value": 9
        },
        {
          "description": "Right Flap",
          "value": 10
        },
        {
          "description": "Airbrake",
          "value": 11
        },
        {
          "description": "Custom",
          "value": 12
        },
        {
          "description": "Left A-tail",
          "value": 13
        },
        {
          "description": "Right A-tail",
          "value": 14
        },
        {
          "description": "Single Channel Aileron",
          "value": 15
        },
        {
          "description": "Steering Wheel",
          "value": 16
        },
        {
          "description": "Left Spoiler",
          "value": 17
        },
        {
          "description": "Right Spoiler",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS1_FLAP",
      "shortDesc": "Control Surface 1 configuration as flap",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS1_SPOIL",
      "shortDesc": "Control Surface 1 configuration as spoiler",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "longDesc": "Can be used to add an offset to the servo control.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS1_TRIM",
      "shortDesc": "Control Surface 1 trim",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS1_TRQ_P",
      "shortDesc": "Control Surface 1 pitch torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS1_TRQ_R",
      "shortDesc": "Control Surface 1 roll torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS1_TRQ_Y",
      "shortDesc": "Control Surface 1 yaw torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "name": "CA_SV_CS1_TYPE",
      "shortDesc": "Control Surface 1 type",
      "type": "Int32",
      "values": [
        {
          "description": "(Not set)",
          "value": 0
        },
        {
          "description": "Left Aileron",
          "value": 1
        },
        {
          "description": "Right Aileron",
          "value": 2
        },
        {
          "description": "Elevator",
          "value": 3
        },
        {
          "description": "Rudder",
          "value": 4
        },
        {
          "description": "Left Elevon",
          "value": 5
        },
        {
          "description": "Right Elevon",
          "value": 6
        },
        {
          "description": "Left V-Tail",
          "value": 7
        },
        {
          "description": "Right V-Tail",
          "value": 8
        },
        {
          "description": "Left Flap",
          "value": 9
        },
        {
          "description": "Right Flap",
          "value": 10
        },
        {
          "description": "Airbrake",
          "value": 11
        },
        {
          "description": "Custom",
          "value": 12
        },
        {
          "description": "Left A-tail",
          "value": 13
        },
        {
          "description": "Right A-tail",
          "value": 14
        },
        {
          "description": "Single Channel Aileron",
          "value": 15
        },
        {
          "description": "Steering Wheel",
          "value": 16
        },
        {
          "description": "Left Spoiler",
          "value": 17
        },
        {
          "description": "Right Spoiler",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS2_FLAP",
      "shortDesc": "Control Surface 2 configuration as flap",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS2_SPOIL",
      "shortDesc": "Control Surface 2 configuration as spoiler",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "longDesc": "Can be used to add an offset to the servo control.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS2_TRIM",
      "shortDesc": "Control Surface 2 trim",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS2_TRQ_P",
      "shortDesc": "Control Surface 2 pitch torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS2_TRQ_R",
      "shortDesc": "Control Surface 2 roll torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS2_TRQ_Y",
      "shortDesc": "Control Surface 2 yaw torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "name": "CA_SV_CS2_TYPE",
      "shortDesc": "Control Surface 2 type",
      "type": "Int32",
      "values": [
        {
          "description": "(Not set)",
          "value": 0
        },
        {
          "description": "Left Aileron",
          "value": 1
        },
        {
          "description": "Right Aileron",
          "value": 2
        },
        {
          "description": "Elevator",
          "value": 3
        },
        {
          "description": "Rudder",
          "value": 4
        },
        {
          "description": "Left Elevon",
          "value": 5
        },
        {
          "description": "Right Elevon",
          "value": 6
        },
        {
          "description": "Left V-Tail",
          "value": 7
        },
        {
          "description": "Right V-Tail",
          "value": 8
        },
        {
          "description": "Left Flap",
          "value": 9
        },
        {
          "description": "Right Flap",
          "value": 10
        },
        {
          "description": "Airbrake",
          "value": 11
        },
        {
          "description": "Custom",
          "value": 12
        },
        {
          "description": "Left A-tail",
          "value": 13
        },
        {
          "description": "Right A-tail",
          "value": 14
        },
        {
          "description": "Single Channel Aileron",
          "value": 15
        },
        {
          "description": "Steering Wheel",
          "value": 16
        },
        {
          "description": "Left Spoiler",
          "value": 17
        },
        {
          "description": "Right Spoiler",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS3_FLAP",
      "shortDesc": "Control Surface 3 configuration as flap",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS3_SPOIL",
      "shortDesc": "Control Surface 3 configuration as spoiler",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "longDesc": "Can be used to add an offset to the servo control.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS3_TRIM",
      "shortDesc": "Control Surface 3 trim",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS3_TRQ_P",
      "shortDesc": "Control Surface 3 pitch torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS3_TRQ_R",
      "shortDesc": "Control Surface 3 roll torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS3_TRQ_Y",
      "shortDesc": "Control Surface 3 yaw torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "name": "CA_SV_CS3_TYPE",
      "shortDesc": "Control Surface 3 type",
      "type": "Int32",
      "values": [
        {
          "description": "(Not set)",
          "value": 0
        },
        {
          "description": "Left Aileron",
          "value": 1
        },
        {
          "description": "Right Aileron",
          "value": 2
        },
        {
          "description": "Elevator",
          "value": 3
        },
        {
          "description": "Rudder",
          "value": 4
        },
        {
          "description": "Left Elevon",
          "value": 5
        },
        {
          "description": "Right Elevon",
          "value": 6
        },
        {
          "description": "Left V-Tail",
          "value": 7
        },
        {
          "description": "Right V-Tail",
          "value": 8
        },
        {
          "description": "Left Flap",
          "value": 9
        },
        {
          "description": "Right Flap",
          "value": 10
        },
        {
          "description": "Airbrake",
          "value": 11
        },
        {
          "description": "Custom",
          "value": 12
        },
        {
          "description": "Left A-tail",
          "value": 13
        },
        {
          "description": "Right A-tail",
          "value": 14
        },
        {
          "description": "Single Channel Aileron",
          "value": 15
        },
        {
          "description": "Steering Wheel",
          "value": 16
        },
        {
          "description": "Left Spoiler",
          "value": 17
        },
        {
          "description": "Right Spoiler",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS4_FLAP",
      "shortDesc": "Control Surface 4 configuration as flap",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS4_SPOIL",
      "shortDesc": "Control Surface 4 configuration as spoiler",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "longDesc": "Can be used to add an offset to the servo control.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS4_TRIM",
      "shortDesc": "Control Surface 4 trim",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS4_TRQ_P",
      "shortDesc": "Control Surface 4 pitch torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS4_TRQ_R",
      "shortDesc": "Control Surface 4 roll torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS4_TRQ_Y",
      "shortDesc": "Control Surface 4 yaw torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "name": "CA_SV_CS4_TYPE",
      "shortDesc": "Control Surface 4 type",
      "type": "Int32",
      "values": [
        {
          "description": "(Not set)",
          "value": 0
        },
        {
          "description": "Left Aileron",
          "value": 1
        },
        {
          "description": "Right Aileron",
          "value": 2
        },
        {
          "description": "Elevator",
          "value": 3
        },
        {
          "description": "Rudder",
          "value": 4
        },
        {
          "description": "Left Elevon",
          "value": 5
        },
        {
          "description": "Right Elevon",
          "value": 6
        },
        {
          "description": "Left V-Tail",
          "value": 7
        },
        {
          "description": "Right V-Tail",
          "value": 8
        },
        {
          "description": "Left Flap",
          "value": 9
        },
        {
          "description": "Right Flap",
          "value": 10
        },
        {
          "description": "Airbrake",
          "value": 11
        },
        {
          "description": "Custom",
          "value": 12
        },
        {
          "description": "Left A-tail",
          "value": 13
        },
        {
          "description": "Right A-tail",
          "value": 14
        },
        {
          "description": "Single Channel Aileron",
          "value": 15
        },
        {
          "description": "Steering Wheel",
          "value": 16
        },
        {
          "description": "Left Spoiler",
          "value": 17
        },
        {
          "description": "Right Spoiler",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS5_FLAP",
      "shortDesc": "Control Surface 5 configuration as flap",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS5_SPOIL",
      "shortDesc": "Control Surface 5 configuration as spoiler",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "longDesc": "Can be used to add an offset to the servo control.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS5_TRIM",
      "shortDesc": "Control Surface 5 trim",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS5_TRQ_P",
      "shortDesc": "Control Surface 5 pitch torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS5_TRQ_R",
      "shortDesc": "Control Surface 5 roll torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS5_TRQ_Y",
      "shortDesc": "Control Surface 5 yaw torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "name": "CA_SV_CS5_TYPE",
      "shortDesc": "Control Surface 5 type",
      "type": "Int32",
      "values": [
        {
          "description": "(Not set)",
          "value": 0
        },
        {
          "description": "Left Aileron",
          "value": 1
        },
        {
          "description": "Right Aileron",
          "value": 2
        },
        {
          "description": "Elevator",
          "value": 3
        },
        {
          "description": "Rudder",
          "value": 4
        },
        {
          "description": "Left Elevon",
          "value": 5
        },
        {
          "description": "Right Elevon",
          "value": 6
        },
        {
          "description": "Left V-Tail",
          "value": 7
        },
        {
          "description": "Right V-Tail",
          "value": 8
        },
        {
          "description": "Left Flap",
          "value": 9
        },
        {
          "description": "Right Flap",
          "value": 10
        },
        {
          "description": "Airbrake",
          "value": 11
        },
        {
          "description": "Custom",
          "value": 12
        },
        {
          "description": "Left A-tail",
          "value": 13
        },
        {
          "description": "Right A-tail",
          "value": 14
        },
        {
          "description": "Single Channel Aileron",
          "value": 15
        },
        {
          "description": "Steering Wheel",
          "value": 16
        },
        {
          "description": "Left Spoiler",
          "value": 17
        },
        {
          "description": "Right Spoiler",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS6_FLAP",
      "shortDesc": "Control Surface 6 configuration as flap",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS6_SPOIL",
      "shortDesc": "Control Surface 6 configuration as spoiler",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "longDesc": "Can be used to add an offset to the servo control.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS6_TRIM",
      "shortDesc": "Control Surface 6 trim",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS6_TRQ_P",
      "shortDesc": "Control Surface 6 pitch torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS6_TRQ_R",
      "shortDesc": "Control Surface 6 roll torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS6_TRQ_Y",
      "shortDesc": "Control Surface 6 yaw torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "name": "CA_SV_CS6_TYPE",
      "shortDesc": "Control Surface 6 type",
      "type": "Int32",
      "values": [
        {
          "description": "(Not set)",
          "value": 0
        },
        {
          "description": "Left Aileron",
          "value": 1
        },
        {
          "description": "Right Aileron",
          "value": 2
        },
        {
          "description": "Elevator",
          "value": 3
        },
        {
          "description": "Rudder",
          "value": 4
        },
        {
          "description": "Left Elevon",
          "value": 5
        },
        {
          "description": "Right Elevon",
          "value": 6
        },
        {
          "description": "Left V-Tail",
          "value": 7
        },
        {
          "description": "Right V-Tail",
          "value": 8
        },
        {
          "description": "Left Flap",
          "value": 9
        },
        {
          "description": "Right Flap",
          "value": 10
        },
        {
          "description": "Airbrake",
          "value": 11
        },
        {
          "description": "Custom",
          "value": 12
        },
        {
          "description": "Left A-tail",
          "value": 13
        },
        {
          "description": "Right A-tail",
          "value": 14
        },
        {
          "description": "Single Channel Aileron",
          "value": 15
        },
        {
          "description": "Steering Wheel",
          "value": 16
        },
        {
          "description": "Left Spoiler",
          "value": 17
        },
        {
          "description": "Right Spoiler",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS7_FLAP",
      "shortDesc": "Control Surface 7 configuration as flap",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS7_SPOIL",
      "shortDesc": "Control Surface 7 configuration as spoiler",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "longDesc": "Can be used to add an offset to the servo control.",
      "max": 1.0,
      "min": -1.0,
      "name": "CA_SV_CS7_TRIM",
      "shortDesc": "Control Surface 7 trim",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS7_TRQ_P",
      "shortDesc": "Control Surface 7 pitch torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS7_TRQ_R",
      "shortDesc": "Control Surface 7 roll torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Geometry",
      "name": "CA_SV_CS7_TRQ_Y",
      "shortDesc": "Control Surface 7 yaw torque scaling",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "name": "CA_SV_CS7_TYPE",
      "shortDesc": "Control Surface 7 type",
      "type": "Int32",
      "values": [
        {
          "description": "(Not set)",
          "value": 0
        },
        {
          "description": "Left Aileron",
          "value": 1
        },
        {
          "description": "Right Aileron",
          "value": 2
        },
        {
          "description": "Elevator",
          "value": 3
        },
        {
          "description": "Rudder",
          "value": 4
        },
        {
          "description": "Left Elevon",
          "value": 5
        },
        {
          "description": "Right Elevon",
          "value": 6
        },
        {
          "description": "Left V-Tail",
          "value": 7
        },
        {
          "description": "Right V-Tail",
          "value": 8
        },
        {
          "description": "Left Flap",
          "value": 9
        },
        {
          "description": "Right Flap",
          "value": 10
        },
        {
          "description": "Airbrake",
          "value": 11
        },
        {
          "description": "Custom",
          "value": 12
        },
        {
          "description": "Left A-tail",
          "value": 13
        },
        {
          "description": "Right A-tail",
          "value": 14
        },
        {
          "description": "Single Channel Aileron",
          "value": 15
        },
        {
          "description": "Steering Wheel",
          "value": 16
        },
        {
          "description": "Left Spoiler",
          "value": 17
        },
        {
          "description": "Right Spoiler",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "name": "CA_SV_CS_COUNT",
      "shortDesc": "Total number of Control Surfaces",
      "type": "Int32",
      "values": [
        {
          "description": "0",
          "value": 0
        },
        {
          "description": "1",
          "value": 1
        },
        {
          "description": "2",
          "value": 2
        },
        {
          "description": "3",
          "value": 3
        },
        {
          "description": "4",
          "value": 4
        },
        {
          "description": "5",
          "value": 5
        },
        {
          "description": "6",
          "value": 6
        },
        {
          "description": "7",
          "value": 7
        },
        {
          "description": "8",
          "value": 8
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Geometry",
      "longDesc": "Define if this servo is used for additional control.",
      "name": "CA_SV_TL0_CT",
      "shortDesc": "Tilt 0 is used for control",
      "type": "Int32",
      "values": [
        {
          "description": "None",
          "value": 0
        },
        {
          "description": "Yaw",
          "value": 1
        },
        {
          "description": "Pitch",
          "value": 2
        },
        {
          "description": "Yaw and Pitch",
          "value": 3
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 0,
      "default": 90.0,
      "group": "Geometry",
      "longDesc": "Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.",
      "max": 90.0,
      "min": -90.0,
      "name": "CA_SV_TL0_MAXA",
      "shortDesc": "Tilt Servo 0 Tilt Angle at Maximum",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 0,
      "default": 0.0,
      "group": "Geometry",
      "longDesc": "Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.",
      "max": 90.0,
      "min": -90.0,
      "name": "CA_SV_TL0_MINA",
      "shortDesc": "Tilt Servo 0 Tilt Angle at Minimum",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "longDesc": "Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.",
      "max": 359,
      "min": 0,
      "name": "CA_SV_TL0_TD",
      "shortDesc": "Tilt Servo 0 Tilt Direction",
      "type": "Int32",
      "values": [
        {
          "description": "Towards Front",
          "value": 0
        },
        {
          "description": "Towards Right",
          "value": 90
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Geometry",
      "longDesc": "Define if this servo is used for additional control.",
      "name": "CA_SV_TL1_CT",
      "shortDesc": "Tilt 1 is used for control",
      "type": "Int32",
      "values": [
        {
          "description": "None",
          "value": 0
        },
        {
          "description": "Yaw",
          "value": 1
        },
        {
          "description": "Pitch",
          "value": 2
        },
        {
          "description": "Yaw and Pitch",
          "value": 3
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 0,
      "default": 90.0,
      "group": "Geometry",
      "longDesc": "Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.",
      "max": 90.0,
      "min": -90.0,
      "name": "CA_SV_TL1_MAXA",
      "shortDesc": "Tilt Servo 1 Tilt Angle at Maximum",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 0,
      "default": 0.0,
      "group": "Geometry",
      "longDesc": "Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.",
      "max": 90.0,
      "min": -90.0,
      "name": "CA_SV_TL1_MINA",
      "shortDesc": "Tilt Servo 1 Tilt Angle at Minimum",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "longDesc": "Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.",
      "max": 359,
      "min": 0,
      "name": "CA_SV_TL1_TD",
      "shortDesc": "Tilt Servo 1 Tilt Direction",
      "type": "Int32",
      "values": [
        {
          "description": "Towards Front",
          "value": 0
        },
        {
          "description": "Towards Right",
          "value": 90
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Geometry",
      "longDesc": "Define if this servo is used for additional control.",
      "name": "CA_SV_TL2_CT",
      "shortDesc": "Tilt 2 is used for control",
      "type": "Int32",
      "values": [
        {
          "description": "None",
          "value": 0
        },
        {
          "description": "Yaw",
          "value": 1
        },
        {
          "description": "Pitch",
          "value": 2
        },
        {
          "description": "Yaw and Pitch",
          "value": 3
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 0,
      "default": 90.0,
      "group": "Geometry",
      "longDesc": "Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.",
      "max": 90.0,
      "min": -90.0,
      "name": "CA_SV_TL2_MAXA",
      "shortDesc": "Tilt Servo 2 Tilt Angle at Maximum",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 0,
      "default": 0.0,
      "group": "Geometry",
      "longDesc": "Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.",
      "max": 90.0,
      "min": -90.0,
      "name": "CA_SV_TL2_MINA",
      "shortDesc": "Tilt Servo 2 Tilt Angle at Minimum",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "longDesc": "Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.",
      "max": 359,
      "min": 0,
      "name": "CA_SV_TL2_TD",
      "shortDesc": "Tilt Servo 2 Tilt Direction",
      "type": "Int32",
      "values": [
        {
          "description": "Towards Front",
          "value": 0
        },
        {
          "description": "Towards Right",
          "value": 90
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Geometry",
      "longDesc": "Define if this servo is used for additional control.",
      "name": "CA_SV_TL3_CT",
      "shortDesc": "Tilt 3 is used for control",
      "type": "Int32",
      "values": [
        {
          "description": "None",
          "value": 0
        },
        {
          "description": "Yaw",
          "value": 1
        },
        {
          "description": "Pitch",
          "value": 2
        },
        {
          "description": "Yaw and Pitch",
          "value": 3
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 0,
      "default": 90.0,
      "group": "Geometry",
      "longDesc": "Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.",
      "max": 90.0,
      "min": -90.0,
      "name": "CA_SV_TL3_MAXA",
      "shortDesc": "Tilt Servo 3 Tilt Angle at Maximum",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 0,
      "default": 0.0,
      "group": "Geometry",
      "longDesc": "Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.",
      "max": 90.0,
      "min": -90.0,
      "name": "CA_SV_TL3_MINA",
      "shortDesc": "Tilt Servo 3 Tilt Angle at Minimum",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "longDesc": "Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.",
      "max": 359,
      "min": 0,
      "name": "CA_SV_TL3_TD",
      "shortDesc": "Tilt Servo 3 Tilt Direction",
      "type": "Int32",
      "values": [
        {
          "description": "Towards Front",
          "value": 0
        },
        {
          "description": "Towards Right",
          "value": 90
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Geometry",
      "name": "CA_SV_TL_COUNT",
      "shortDesc": "Total number of Tilt Servos",
      "type": "Int32",
      "values": [
        {
          "description": "0",
          "value": 0
        },
        {
          "description": "1",
          "value": 1
        },
        {
          "description": "2",
          "value": 2
        },
        {
          "description": "3",
          "value": 3
        },
        {
          "description": "4",
          "value": 4
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 3.0,
      "group": "Hover Thrust Estimator",
      "longDesc": "Sets the number of standard deviations used by the innovation consistency test.",
      "max": 10.0,
      "min": 1.0,
      "name": "HTE_ACC_GATE",
      "shortDesc": "Gate size for acceleration fusion",
      "type": "Float",
      "units": "SD"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.1,
      "group": "Hover Thrust Estimator",
      "longDesc": "Sets the number of standard deviations used by the innovation consistency test.",
      "max": 1.0,
      "min": 0.0,
      "name": "HTE_HT_ERR_INIT",
      "shortDesc": "1-sigma initial hover thrust uncertainty",
      "type": "Float",
      "units": "normalized_thrust"
    },
    {
      "category": "Standard",
      "decimalPlaces": 4,
      "default": 0.0036,
      "group": "Hover Thrust Estimator",
      "longDesc": "Reduce to make the hover thrust estimate more stable, increase if the real hover thrust is expected to change quickly over time.",
      "max": 1.0,
      "min": 0.0001,
      "name": "HTE_HT_NOISE",
      "shortDesc": "Hover thrust process noise",
      "type": "Float",
      "units": "normalized_thrust/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.2,
      "group": "Hover Thrust Estimator",
      "longDesc": "Defines the range of the hover thrust estimate around MPC_THR_HOVER. A value of 0.2 with MPC_THR_HOVER at 0.5 results in a range of [0.3, 0.7]. Set to a large value if the vehicle operates in varying physical conditions that affect the required hover thrust strongly (e.g. differently sized payloads).",
      "max": 0.4,
      "min": 0.01,
      "name": "HTE_THR_RANGE",
      "shortDesc": "Max deviation from MPC_THR_HOVER",
      "type": "Float",
      "units": "normalized_thrust"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 10.0,
      "group": "Hover Thrust Estimator",
      "longDesc": "Above this speed, the measurement noise is linearly increased to reduce the sensitivity of the estimator from biased measurement. Set to a low value on vehicles with large lifting surfaces.",
      "max": 20.0,
      "min": 1.0,
      "name": "HTE_VXY_THR",
      "shortDesc": "Horizontal velocity threshold for sensitivity reduction",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 2.0,
      "group": "Hover Thrust Estimator",
      "longDesc": "Above this speed, the measurement noise is linearly increased to reduce the sensitivity of the estimator from biased measurement. Set to a low value on vehicles affected by air drag when climbing or descending.",
      "max": 10.0,
      "min": 1.0,
      "name": "HTE_VZ_THR",
      "shortDesc": "Vertical velocity threshold for sensitivity reduction",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 6.0,
      "group": "Land Detector",
      "longDesc": "Maximum airspeed allowed in the landed state",
      "max": 20.0,
      "min": 2.0,
      "name": "LNDFW_AIRSPD_MAX",
      "shortDesc": "Fixed-wing land detector: Max airspeed",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 2.0,
      "group": "Land Detector",
      "longDesc": "Time the land conditions (speeds and acceleration) have to be satisfied to detect a landing.",
      "min": 0.1,
      "name": "LNDFW_TRIG_TIME",
      "rebootRequired": true,
      "shortDesc": "Fixed-wing land detection trigger time",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "Land Detector",
      "longDesc": "Maximum horizontal velocity allowed in the landed state. A factor of 0.7 is applied in case of airspeed-less flying (either because no sensor is present or sensor data got invalid in flight).",
      "max": 10.0,
      "min": 0.5,
      "name": "LNDFW_VEL_XY_MAX",
      "shortDesc": "Fixed-wing land detector: Max horizontal velocity threshold",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 1.0,
      "group": "Land Detector",
      "longDesc": "Maximum vertical velocity allowed in the landed state.",
      "max": 20.0,
      "min": 0.1,
      "name": "LNDFW_VEL_Z_MAX",
      "shortDesc": "Fixed-wing land detector: Max vertiacal velocity threshold",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 8.0,
      "group": "Land Detector",
      "longDesc": "Maximum horizontal (x,y body axes) acceleration allowed in the landed state",
      "max": 15.0,
      "min": 2.0,
      "name": "LNDFW_XYACC_MAX",
      "shortDesc": "Fixed-wing land detector: Max horizontal acceleration",
      "type": "Float",
      "units": "m/s^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 2.0,
      "group": "Land Detector",
      "longDesc": "The height above ground below which ground effect creates barometric altitude errors. A negative value indicates no ground effect.",
      "min": -1.0,
      "name": "LNDMC_ALT_GND",
      "shortDesc": "Ground effect altitude for multicopters",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": -1.0,
      "group": "Land Detector",
      "longDesc": "The system will obey this limit as a hard altitude limit. This setting will be consolidated with the GF_MAX_VER_DIST parameter. A negative value indicates no altitude limitation.",
      "max": 10000.0,
      "min": -1.0,
      "name": "LNDMC_ALT_MAX",
      "shortDesc": "Maximum altitude for multicopters",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 20.0,
      "group": "Land Detector",
      "longDesc": "Maximum allowed angular velocity around each axis allowed in the landed state.",
      "name": "LNDMC_ROT_MAX",
      "shortDesc": "Multicopter max rotation",
      "type": "Float",
      "units": "deg/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 1.0,
      "group": "Land Detector",
      "longDesc": "Total time it takes to go through all three land detection stages: ground contact, maybe landed, landed when all necessary conditions are constantly met.",
      "max": 10.0,
      "min": 0.1,
      "name": "LNDMC_TRIG_TIME",
      "shortDesc": "Multicopter land detection trigger time",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 1.5,
      "group": "Land Detector",
      "longDesc": "Maximum horizontal velocity allowed in the landed state",
      "name": "LNDMC_XY_VEL_MAX",
      "shortDesc": "Multicopter max horizontal velocity",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.25,
      "group": "Land Detector",
      "longDesc": "Vertical velocity threshold to detect landing. Has to be set lower than the expected minimal speed for landing, which is either MPC_LAND_SPEED or MPC_LAND_CRWL. This is enforced by an automatic check.",
      "min": 0.0,
      "name": "LNDMC_Z_VEL_MAX",
      "shortDesc": "Multicopter vertical velocity threshold",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "System",
      "default": 0,
      "group": "Land Detector",
      "longDesc": "Total flight time of this autopilot. Higher 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.",
      "min": 0,
      "name": "LND_FLIGHT_T_HI",
      "shortDesc": "Total flight time in microseconds",
      "type": "Int32",
      "volatile": true
    },
    {
      "category": "System",
      "default": 0,
      "group": "Land Detector",
      "longDesc": "Total flight time of this autopilot. Lower 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.",
      "min": 0,
      "name": "LND_FLIGHT_T_LO",
      "shortDesc": "Total flight time in microseconds",
      "type": "Int32",
      "volatile": true
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Landing Target Estimator",
      "name": "LTEST_SENS_POS_X",
      "rebootRequired": true,
      "shortDesc": "X Position of IRLOCK in body frame (forward)",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Landing Target Estimator",
      "name": "LTEST_SENS_POS_Y",
      "rebootRequired": true,
      "shortDesc": "Y Position of IRLOCK in body frame (right)",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Landing Target Estimator",
      "name": "LTEST_SENS_POS_Z",
      "rebootRequired": true,
      "shortDesc": "Z Position of IRLOCK in body frame (downward)",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 2,
      "group": "Landing Target Estimator",
      "longDesc": "Default orientation of Yaw 90\u00b0",
      "max": 40,
      "min": -1,
      "name": "LTEST_SENS_ROT",
      "rebootRequired": true,
      "shortDesc": "Rotation of IRLOCK sensor relative to airframe",
      "type": "Int32",
      "values": [
        {
          "description": "No rotation",
          "value": 0
        },
        {
          "description": "Yaw 45\u00b0",
          "value": 1
        },
        {
          "description": "Yaw 90\u00b0",
          "value": 2
        },
        {
          "description": "Yaw 135\u00b0",
          "value": 3
        },
        {
          "description": "Yaw 180\u00b0",
          "value": 4
        },
        {
          "description": "Yaw 225\u00b0",
          "value": 5
        },
        {
          "description": "Yaw 270\u00b0",
          "value": 6
        },
        {
          "description": "Yaw 315\u00b0",
          "value": 7
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 10.0,
      "group": "Landing target Estimator",
      "longDesc": "Variance of acceleration measurement used for landing target position prediction. Higher values results in tighter following of the measurements and more lenient outlier rejection",
      "min": 0.01,
      "name": "LTEST_ACC_UNC",
      "shortDesc": "Acceleration uncertainty",
      "type": "Float",
      "units": "(m/s^2)^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 4,
      "default": 0.005,
      "group": "Landing target Estimator",
      "longDesc": "Variance of the landing target measurement from the driver. Higher values result in less aggressive following of the measurement and a smoother output as well as fewer rejected measurements.",
      "name": "LTEST_MEAS_UNC",
      "shortDesc": "Landing target measurement uncertainty",
      "type": "Float",
      "units": "tan(rad)^2"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Landing target Estimator",
      "longDesc": "Configure the mode of the landing target. Depending on the mode, the landing target observations are used differently to aid position estimation. Mode Moving:     The landing target may be moving around while in the field of view of the vehicle. Landing target measurements are not used to aid positioning. Mode Stationary: The landing target is stationary. Measured velocity w.r.t. the landing target is used to aid velocity estimation.",
      "max": 1,
      "min": 0,
      "name": "LTEST_MODE",
      "shortDesc": "Landing target mode",
      "type": "Int32",
      "values": [
        {
          "description": "Moving",
          "value": 0
        },
        {
          "description": "Stationary",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.1,
      "group": "Landing target Estimator",
      "longDesc": "Initial variance of the relative landing target position in x and y direction",
      "min": 0.001,
      "name": "LTEST_POS_UNC_IN",
      "shortDesc": "Initial landing target position uncertainty",
      "type": "Float",
      "units": "m^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Landing target Estimator",
      "longDesc": "Landing target x measurements are scaled by this factor before being used",
      "min": 0.01,
      "name": "LTEST_SCALE_X",
      "shortDesc": "Scale factor for sensor measurements in sensor x axis",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Landing target Estimator",
      "longDesc": "Landing target y measurements are scaled by this factor before being used",
      "min": 0.01,
      "name": "LTEST_SCALE_Y",
      "shortDesc": "Scale factor for sensor measurements in sensor y axis",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.1,
      "group": "Landing target Estimator",
      "longDesc": "Initial variance of the relative landing target velocity in x and y directions",
      "min": 0.001,
      "name": "LTEST_VEL_UNC_IN",
      "shortDesc": "Initial landing target velocity uncertainty",
      "type": "Float",
      "units": "(m/s)^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 4,
      "default": 0.012,
      "group": "Local Position Estimator",
      "longDesc": "Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz) Larger than data sheet to account for tilt error.",
      "max": 2.0,
      "min": 1e-05,
      "name": "LPE_ACC_XY",
      "shortDesc": "Accelerometer xy noise density",
      "type": "Float",
      "units": "m/s^2/sqrt(Hz)"
    },
    {
      "category": "Standard",
      "decimalPlaces": 4,
      "default": 0.02,
      "group": "Local Position Estimator",
      "longDesc": "Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)",
      "max": 2.0,
      "min": 1e-05,
      "name": "LPE_ACC_Z",
      "shortDesc": "Accelerometer z noise density",
      "type": "Float",
      "units": "m/s^2/sqrt(Hz)"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 3.0,
      "group": "Local Position Estimator",
      "max": 100.0,
      "min": 0.01,
      "name": "LPE_BAR_Z",
      "shortDesc": "Barometric presssure altitude z standard deviation",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 3.0,
      "group": "Local Position Estimator",
      "max": 5.0,
      "min": 1.0,
      "name": "LPE_EPH_MAX",
      "shortDesc": "Max EPH allowed for GPS initialization",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 5.0,
      "group": "Local Position Estimator",
      "max": 5.0,
      "min": 1.0,
      "name": "LPE_EPV_MAX",
      "shortDesc": "Max EPV allowed for GPS initialization",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Local Position Estimator",
      "longDesc": "By initializing the estimator to the LPE_LAT/LON parameters when global information is unavailable",
      "max": 1,
      "min": 0,
      "name": "LPE_FAKE_ORIGIN",
      "shortDesc": "Enable publishing of a fake global position (e.g for AUTO missions using Optical Flow)",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.001,
      "group": "Local Position Estimator",
      "max": 2.0,
      "min": 0.0,
      "name": "LPE_FGYRO_HP",
      "shortDesc": "Flow gyro high pass filter cut off frequency",
      "type": "Float",
      "units": "Hz"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Local Position Estimator",
      "max": 1.0,
      "min": -1.0,
      "name": "LPE_FLW_OFF_Z",
      "shortDesc": "Optical flow z offset from center",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 150,
      "group": "Local Position Estimator",
      "max": 255,
      "min": 0,
      "name": "LPE_FLW_QMIN",
      "shortDesc": "Optical flow minimum quality threshold",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 7.0,
      "group": "Local Position Estimator",
      "max": 10.0,
      "min": 0.1,
      "name": "LPE_FLW_R",
      "shortDesc": "Optical flow rotation (roll/pitch) noise gain",
      "type": "Float",
      "units": "m/s/rad"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 7.0,
      "group": "Local Position Estimator",
      "max": 10.0,
      "min": 0.0,
      "name": "LPE_FLW_RR",
      "shortDesc": "Optical flow angular velocity noise gain",
      "type": "Float",
      "units": "m/rad"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 1.3,
      "group": "Local Position Estimator",
      "max": 10.0,
      "min": 0.1,
      "name": "LPE_FLW_SCALE",
      "shortDesc": "Optical flow scale",
      "type": "Float",
      "units": "m"
    },
    {
      "bitmask": [
        {
          "description": "fuse GPS, requires GPS for alt. init",
          "index": 0
        },
        {
          "description": "fuse optical flow",
          "index": 1
        },
        {
          "description": "fuse vision position",
          "index": 2
        },
        {
          "description": "fuse landing target",
          "index": 3
        },
        {
          "description": "fuse land detector",
          "index": 4
        },
        {
          "description": "pub agl as lpos down",
          "index": 5
        },
        {
          "description": "flow gyro compensation",
          "index": 6
        },
        {
          "description": "fuse baro",
          "index": 7
        }
      ],
      "category": "Standard",
      "default": 145,
      "group": "Local Position Estimator",
      "longDesc": "Set bits in the following positions to enable: 0 : Set to true to fuse GPS data if available, also requires GPS for altitude init 1 : Set to true to fuse optical flow data if available 2 : Set to true to fuse vision position 3 : Set to true to enable landing target 4 : Set to true to fuse land detector 5 : Set to true to publish AGL as local position down component 6 : Set to true to enable flow gyro compensation 7 : Set to true to enable baro fusion default (145 - GPS, baro, land detector)",
      "max": 255,
      "min": 0,
      "name": "LPE_FUSION",
      "shortDesc": "Integer bitmask controlling data fusion",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.29,
      "group": "Local Position Estimator",
      "max": 0.4,
      "min": 0.0,
      "name": "LPE_GPS_DELAY",
      "shortDesc": "GPS delay compensaton",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.25,
      "group": "Local Position Estimator",
      "longDesc": "EPV used if greater than this value.",
      "max": 2.0,
      "min": 0.01,
      "name": "LPE_GPS_VXY",
      "shortDesc": "GPS xy velocity standard deviation",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.25,
      "group": "Local Position Estimator",
      "max": 2.0,
      "min": 0.01,
      "name": "LPE_GPS_VZ",
      "shortDesc": "GPS z velocity standard deviation",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 1.0,
      "group": "Local Position Estimator",
      "max": 5.0,
      "min": 0.01,
      "name": "LPE_GPS_XY",
      "shortDesc": "Minimum GPS xy standard deviation, uses reported EPH if greater",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 3.0,
      "group": "Local Position Estimator",
      "max": 200.0,
      "min": 0.01,
      "name": "LPE_GPS_Z",
      "shortDesc": "Minimum GPS z standard deviation, uses reported EPV if greater",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.05,
      "group": "Local Position Estimator",
      "max": 10.0,
      "min": 0.01,
      "name": "LPE_LAND_VXY",
      "shortDesc": "Land detector xy velocity standard deviation",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.03,
      "group": "Local Position Estimator",
      "max": 10.0,
      "min": 0.001,
      "name": "LPE_LAND_Z",
      "shortDesc": "Land detector z standard deviation",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 8,
      "default": 47.397742,
      "group": "Local Position Estimator",
      "max": 90.0,
      "min": -90.0,
      "name": "LPE_LAT",
      "shortDesc": "Local origin latitude for nav w/o GPS",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Local Position Estimator",
      "max": 1.0,
      "min": -1.0,
      "name": "LPE_LDR_OFF_Z",
      "shortDesc": "Lidar z offset from center of vehicle +down",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.03,
      "group": "Local Position Estimator",
      "max": 1.0,
      "min": 0.01,
      "name": "LPE_LDR_Z",
      "shortDesc": "Lidar z standard deviation",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 8,
      "default": 8.545594,
      "group": "Local Position Estimator",
      "max": 180.0,
      "min": -180.0,
      "name": "LPE_LON",
      "shortDesc": "Local origin longitude for nav w/o GPS",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0001,
      "group": "Local Position Estimator",
      "max": 10.0,
      "min": 0.0,
      "name": "LPE_LT_COV",
      "shortDesc": "Minimum landing target standard covariance, uses reported covariance if greater",
      "type": "Float",
      "units": "m^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 8,
      "default": 0.001,
      "group": "Local Position Estimator",
      "max": 1.0,
      "min": 0.0,
      "name": "LPE_PN_B",
      "shortDesc": "Accel bias propagation noise density",
      "type": "Float",
      "units": "m/s^3/sqrt(Hz)"
    },
    {
      "category": "Standard",
      "decimalPlaces": 8,
      "default": 0.1,
      "group": "Local Position Estimator",
      "longDesc": "Increase to trust measurements more. Decrease to trust model more.",
      "max": 1.0,
      "min": 0.0,
      "name": "LPE_PN_P",
      "shortDesc": "Position propagation noise density",
      "type": "Float",
      "units": "m/s/sqrt(Hz)"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.001,
      "group": "Local Position Estimator",
      "max": 1.0,
      "min": 0.0,
      "name": "LPE_PN_T",
      "shortDesc": "Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001)",
      "type": "Float",
      "units": "m/s/sqrt(Hz)"
    },
    {
      "category": "Standard",
      "decimalPlaces": 8,
      "default": 0.1,
      "group": "Local Position Estimator",
      "longDesc": "Increase to trust measurements more. Decrease to trust model more.",
      "max": 1.0,
      "min": 0.0,
      "name": "LPE_PN_V",
      "shortDesc": "Velocity propagation noise density",
      "type": "Float",
      "units": "m/s^2/sqrt(Hz)"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Local Position Estimator",
      "max": 1.0,
      "min": -1.0,
      "name": "LPE_SNR_OFF_Z",
      "shortDesc": "Sonar z offset from center of vehicle +down",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.05,
      "group": "Local Position Estimator",
      "max": 1.0,
      "min": 0.01,
      "name": "LPE_SNR_Z",
      "shortDesc": "Sonar z standard deviation",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Local Position Estimator",
      "longDesc": "Used to calculate increased terrain random walk nosie due to movement.",
      "max": 100.0,
      "min": 0.0,
      "name": "LPE_T_MAX_GRADE",
      "shortDesc": "Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg)",
      "type": "Float",
      "units": "%"
    },
    {
      "category": "Standard",
      "decimalPlaces": 4,
      "default": 0.001,
      "group": "Local Position Estimator",
      "max": 1.0,
      "min": 0.0001,
      "name": "LPE_VIC_P",
      "shortDesc": "Vicon position standard deviation",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.1,
      "group": "Local Position Estimator",
      "longDesc": "Set to zero to enable automatic compensation from measurement timestamps",
      "max": 0.1,
      "min": 0.0,
      "name": "LPE_VIS_DELAY",
      "shortDesc": "Vision delay compensation",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.1,
      "group": "Local Position Estimator",
      "max": 1.0,
      "min": 0.01,
      "name": "LPE_VIS_XY",
      "shortDesc": "Vision xy standard deviation",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.5,
      "group": "Local Position Estimator",
      "max": 100.0,
      "min": 0.01,
      "name": "LPE_VIS_Z",
      "shortDesc": "Vision z standard deviation",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.3,
      "group": "Local Position Estimator",
      "max": 1.0,
      "min": 0.01,
      "name": "LPE_VXY_PUB",
      "shortDesc": "Required velocity xy standard deviation to publish position",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 0,
      "default": 5.0,
      "group": "Local Position Estimator",
      "max": 1000.0,
      "min": 5.0,
      "name": "LPE_X_LP",
      "shortDesc": "Cut frequency for state publication",
      "type": "Float",
      "units": "Hz"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 1.0,
      "group": "Local Position Estimator",
      "max": 5.0,
      "min": 0.3,
      "name": "LPE_Z_PUB",
      "shortDesc": "Required z standard deviation to publish altitude/ terrain",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "MAVLink",
      "longDesc": "This allows a ground control station to automatically find the drone on the local network.",
      "name": "MAV_0_BROADCAST",
      "shortDesc": "Broadcast heartbeats on local network for MAVLink instance 0",
      "type": "Int32",
      "values": [
        {
          "description": "Never broadcast",
          "value": 0
        },
        {
          "description": "Always broadcast",
          "value": 1
        },
        {
          "description": "Only multicast",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "default": 2,
      "group": "MAVLink",
      "longDesc": "This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.",
      "name": "MAV_0_FLOW_CTRL",
      "rebootRequired": true,
      "shortDesc": "Enable serial flow control for instance 0",
      "type": "Int32",
      "values": [
        {
          "description": "Force off",
          "value": 0
        },
        {
          "description": "Force on",
          "value": 1
        },
        {
          "description": "Auto-detected",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "MAVLink",
      "longDesc": "If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).",
      "name": "MAV_0_FORWARD",
      "rebootRequired": true,
      "shortDesc": "Enable MAVLink Message forwarding for instance 0",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "MAVLink",
      "longDesc": "The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.",
      "name": "MAV_0_MODE",
      "rebootRequired": true,
      "shortDesc": "MAVLink Mode for instance 0",
      "type": "Int32",
      "values": [
        {
          "description": "Normal",
          "value": 0
        },
        {
          "description": "Custom",
          "value": 1
        },
        {
          "description": "Onboard",
          "value": 2
        },
        {
          "description": "OSD",
          "value": 3
        },
        {
          "description": "Magic",
          "value": 4
        },
        {
          "description": "Config",
          "value": 5
        },
        {
          "description": "Minimal",
          "value": 7
        },
        {
          "description": "External Vision",
          "value": 8
        },
        {
          "description": "Gimbal",
          "value": 10
        },
        {
          "description": "Onboard Low Bandwidth",
          "value": 11
        },
        {
          "description": "uAvionix",
          "value": 12
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "MAVLink",
      "longDesc": "If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.",
      "name": "MAV_0_RADIO_CTL",
      "rebootRequired": true,
      "shortDesc": "Enable software throttling of mavlink on instance 0",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1200,
      "group": "MAVLink",
      "longDesc": "Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).",
      "min": 0,
      "name": "MAV_0_RATE",
      "rebootRequired": true,
      "shortDesc": "Maximum MAVLink sending rate for instance 0",
      "type": "Int32",
      "units": "B/s"
    },
    {
      "category": "Standard",
      "default": 14550,
      "group": "MAVLink",
      "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 0, selected remote port will be set and used in MAVLink instance 0.",
      "name": "MAV_0_REMOTE_PRT",
      "rebootRequired": true,
      "shortDesc": "MAVLink Remote Port for instance 0",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 14556,
      "group": "MAVLink",
      "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 0, selected udp port will be set and used in MAVLink instance 0.",
      "name": "MAV_0_UDP_PRT",
      "rebootRequired": true,
      "shortDesc": "MAVLink Network Port for instance 0",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "MAVLink",
      "longDesc": "This allows a ground control station to automatically find the drone on the local network.",
      "name": "MAV_1_BROADCAST",
      "shortDesc": "Broadcast heartbeats on local network for MAVLink instance 1",
      "type": "Int32",
      "values": [
        {
          "description": "Never broadcast",
          "value": 0
        },
        {
          "description": "Always broadcast",
          "value": 1
        },
        {
          "description": "Only multicast",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "default": 2,
      "group": "MAVLink",
      "longDesc": "This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.",
      "name": "MAV_1_FLOW_CTRL",
      "rebootRequired": true,
      "shortDesc": "Enable serial flow control for instance 1",
      "type": "Int32",
      "values": [
        {
          "description": "Force off",
          "value": 0
        },
        {
          "description": "Force on",
          "value": 1
        },
        {
          "description": "Auto-detected",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "MAVLink",
      "longDesc": "If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).",
      "name": "MAV_1_FORWARD",
      "rebootRequired": true,
      "shortDesc": "Enable MAVLink Message forwarding for instance 1",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 2,
      "group": "MAVLink",
      "longDesc": "The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.",
      "name": "MAV_1_MODE",
      "rebootRequired": true,
      "shortDesc": "MAVLink Mode for instance 1",
      "type": "Int32",
      "values": [
        {
          "description": "Normal",
          "value": 0
        },
        {
          "description": "Custom",
          "value": 1
        },
        {
          "description": "Onboard",
          "value": 2
        },
        {
          "description": "OSD",
          "value": 3
        },
        {
          "description": "Magic",
          "value": 4
        },
        {
          "description": "Config",
          "value": 5
        },
        {
          "description": "Minimal",
          "value": 7
        },
        {
          "description": "External Vision",
          "value": 8
        },
        {
          "description": "Gimbal",
          "value": 10
        },
        {
          "description": "Onboard Low Bandwidth",
          "value": 11
        },
        {
          "description": "uAvionix",
          "value": 12
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "MAVLink",
      "longDesc": "If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.",
      "name": "MAV_1_RADIO_CTL",
      "rebootRequired": true,
      "shortDesc": "Enable software throttling of mavlink on instance 1",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "MAVLink",
      "longDesc": "Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).",
      "min": 0,
      "name": "MAV_1_RATE",
      "rebootRequired": true,
      "shortDesc": "Maximum MAVLink sending rate for instance 1",
      "type": "Int32",
      "units": "B/s"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "MAVLink",
      "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 1, selected remote port will be set and used in MAVLink instance 1.",
      "name": "MAV_1_REMOTE_PRT",
      "rebootRequired": true,
      "shortDesc": "MAVLink Remote Port for instance 1",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "MAVLink",
      "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 1, selected udp port will be set and used in MAVLink instance 1.",
      "name": "MAV_1_UDP_PRT",
      "rebootRequired": true,
      "shortDesc": "MAVLink Network Port for instance 1",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "MAVLink",
      "longDesc": "This allows a ground control station to automatically find the drone on the local network.",
      "name": "MAV_2_BROADCAST",
      "shortDesc": "Broadcast heartbeats on local network for MAVLink instance 2",
      "type": "Int32",
      "values": [
        {
          "description": "Never broadcast",
          "value": 0
        },
        {
          "description": "Always broadcast",
          "value": 1
        },
        {
          "description": "Only multicast",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "default": 2,
      "group": "MAVLink",
      "longDesc": "This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.",
      "name": "MAV_2_FLOW_CTRL",
      "rebootRequired": true,
      "shortDesc": "Enable serial flow control for instance 2",
      "type": "Int32",
      "values": [
        {
          "description": "Force off",
          "value": 0
        },
        {
          "description": "Force on",
          "value": 1
        },
        {
          "description": "Auto-detected",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "MAVLink",
      "longDesc": "If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).",
      "name": "MAV_2_FORWARD",
      "rebootRequired": true,
      "shortDesc": "Enable MAVLink Message forwarding for instance 2",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "MAVLink",
      "longDesc": "The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.",
      "name": "MAV_2_MODE",
      "rebootRequired": true,
      "shortDesc": "MAVLink Mode for instance 2",
      "type": "Int32",
      "values": [
        {
          "description": "Normal",
          "value": 0
        },
        {
          "description": "Custom",
          "value": 1
        },
        {
          "description": "Onboard",
          "value": 2
        },
        {
          "description": "OSD",
          "value": 3
        },
        {
          "description": "Magic",
          "value": 4
        },
        {
          "description": "Config",
          "value": 5
        },
        {
          "description": "Minimal",
          "value": 7
        },
        {
          "description": "External Vision",
          "value": 8
        },
        {
          "description": "Gimbal",
          "value": 10
        },
        {
          "description": "Onboard Low Bandwidth",
          "value": 11
        },
        {
          "description": "uAvionix",
          "value": 12
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "MAVLink",
      "longDesc": "If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.",
      "name": "MAV_2_RADIO_CTL",
      "rebootRequired": true,
      "shortDesc": "Enable software throttling of mavlink on instance 2",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "MAVLink",
      "longDesc": "Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).",
      "min": 0,
      "name": "MAV_2_RATE",
      "rebootRequired": true,
      "shortDesc": "Maximum MAVLink sending rate for instance 2",
      "type": "Int32",
      "units": "B/s"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "MAVLink",
      "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 2, selected remote port will be set and used in MAVLink instance 2.",
      "name": "MAV_2_REMOTE_PRT",
      "rebootRequired": true,
      "shortDesc": "MAVLink Remote Port for instance 2",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "MAVLink",
      "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 2, selected udp port will be set and used in MAVLink instance 2.",
      "name": "MAV_2_UDP_PRT",
      "rebootRequired": true,
      "shortDesc": "MAVLink Network Port for instance 2",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "MAVLink",
      "max": 250,
      "min": 1,
      "name": "MAV_COMP_ID",
      "rebootRequired": true,
      "shortDesc": "MAVLink component ID",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "MAVLink",
      "longDesc": "If set to 1 incoming external setpoint messages will be directly forwarded to the controllers if in offboard control mode",
      "name": "MAV_FWDEXTSP",
      "shortDesc": "Forward external setpoint messages",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "MAVLink",
      "longDesc": "Disabling the parameter hash check functionality will make the mavlink instance stream parameters continuously.",
      "name": "MAV_HASH_CHK_EN",
      "shortDesc": "Parameter hash check",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "MAVLink",
      "longDesc": "The mavlink heartbeat message will not be forwarded if this parameter is set to 'disabled'. The main reason for disabling heartbeats to be forwarded is because they confuse dronekit.",
      "name": "MAV_HB_FORW_EN",
      "shortDesc": "Heartbeat message forwarding",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "MAVLink",
      "name": "MAV_PROTO_VER",
      "shortDesc": "MAVLink protocol version",
      "type": "Int32",
      "values": [
        {
          "description": "Default to 1, switch to 2 if GCS sends version 2",
          "value": 0
        },
        {
          "description": "Always use version 1",
          "value": 1
        },
        {
          "description": "Always use version 2",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "default": 5,
      "group": "MAVLink",
      "longDesc": "If the connected radio stops reporting RADIO_STATUS for a certain time, a warning is triggered and, if MAV_X_RADIO_CTL is enabled, the software-flow control is reset.",
      "max": 250,
      "min": 1,
      "name": "MAV_RADIO_TOUT",
      "shortDesc": "Timeout in seconds for the RADIO_STATUS reports coming in",
      "type": "Int32",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "MAVLink",
      "longDesc": "When non-zero the MAVLink app will attempt to configure the SiK radio to this ID and re-set the parameter to 0. If the value is negative it will reset the complete radio config to factory defaults. Only applies if this mavlink instance is going through a SiK radio",
      "max": 240,
      "min": -1,
      "name": "MAV_SIK_RADIO_ID",
      "shortDesc": "MAVLink SiK Radio ID",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "MAVLink",
      "max": 250,
      "min": 1,
      "name": "MAV_SYS_ID",
      "rebootRequired": true,
      "shortDesc": "MAVLink system ID",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "MAVLink",
      "max": 22,
      "min": 0,
      "name": "MAV_TYPE",
      "shortDesc": "MAVLink airframe type",
      "type": "Int32",
      "values": [
        {
          "description": "Generic micro air vehicle",
          "value": 0
        },
        {
          "description": "Fixed wing aircraft",
          "value": 1
        },
        {
          "description": "Quadrotor",
          "value": 2
        },
        {
          "description": "Coaxial helicopter",
          "value": 3
        },
        {
          "description": "Normal helicopter with tail rotor",
          "value": 4
        },
        {
          "description": "Airship, controlled",
          "value": 7
        },
        {
          "description": "Free balloon, uncontrolled",
          "value": 8
        },
        {
          "description": "Ground rover",
          "value": 10
        },
        {
          "description": "Surface vessel, boat, ship",
          "value": 11
        },
        {
          "description": "Submarine",
          "value": 12
        },
        {
          "description": "Hexarotor",
          "value": 13
        },
        {
          "description": "Octorotor",
          "value": 14
        },
        {
          "description": "Tricopter",
          "value": 15
        },
        {
          "description": "VTOL Two-rotor Tailsitter",
          "value": 19
        },
        {
          "description": "VTOL Quad-rotor Tailsitter",
          "value": 20
        },
        {
          "description": "VTOL Tiltrotor",
          "value": 21
        },
        {
          "description": "VTOL Standard (separate fixed rotors for hover and cruise flight)",
          "value": 22
        },
        {
          "description": "VTOL Tailsitter",
          "value": 23
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "MAVLink",
      "longDesc": "If set to 1 incoming HIL GPS messages are parsed.",
      "name": "MAV_USEHILGPS",
      "shortDesc": "Use/Accept HIL GPS message even if not in HIL mode",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Magnetometer Bias Estimator",
      "longDesc": "This enables continuous calibration of the magnetometers before takeoff using gyro data.",
      "name": "MBE_ENABLE",
      "rebootRequired": true,
      "shortDesc": "Enable online mag bias calibration",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 18.0,
      "group": "Magnetometer Bias Estimator",
      "increment": 0.1,
      "longDesc": "Increase to make the estimator more responsive Decrease to make the estimator more robust to noise",
      "max": 100.0,
      "min": 0.1,
      "name": "MBE_LEARN_GAIN",
      "shortDesc": "Mag bias estimator learning gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Manual Control",
      "longDesc": "This determines if moving the left stick to the lower right arms and to the lower left disarms the vehicle.",
      "name": "MAN_ARM_GESTURE",
      "shortDesc": "Enable arm/disarm stick gesture",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 30,
      "group": "Mission",
      "longDesc": "The time in seconds the system should do open loop loiter and wait for GPS recovery before it starts descending. Set to 0 to disable. Roll angle is set to FW_GPSF_R. Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0.",
      "max": 3600,
      "min": 0,
      "name": "FW_GPSF_LT",
      "shortDesc": "GPS failure loiter time",
      "type": "Int32",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 15.0,
      "group": "Mission",
      "increment": 0.5,
      "longDesc": "Roll in degrees during the loiter after the vehicle has lost GPS in an auto mode (e.g. mission or loiter).",
      "max": 30.0,
      "min": 0.0,
      "name": "FW_GPSF_R",
      "shortDesc": "GPS failure fixed roll angle",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 900.0,
      "group": "Mission",
      "increment": 100.0,
      "longDesc": "Failsafe check to prevent running mission stored from previous flight at a new takeoff location. Set a value of zero or less to disable. The mission will not be started if the current waypoint is more distant than MIS_DIST_1WP from the current position.",
      "max": 10000.0,
      "min": -1.0,
      "name": "MIS_DIST_1WP",
      "shortDesc": "Maximal horizontal distance from current position to first waypoint",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 30,
      "group": "Mission",
      "longDesc": "Minimum altitude above landing point that the vehicle will climb to after an aborted landing. Then vehicle will loiter in this altitude until further command is received. Only applies to fixed-wing vehicles.",
      "min": 0,
      "name": "MIS_LND_ABRT_ALT",
      "shortDesc": "Landing abort min altitude",
      "type": "Int32",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Mission",
      "longDesc": "If enabled, yaw commands will be sent to the mount and the vehicle will follow its heading towards the flight direction. If disabled, the vehicle will yaw towards the ROI.",
      "max": 1,
      "min": 0,
      "name": "MIS_MNT_YAW_CTL",
      "shortDesc": "Enable yaw control of the mount. (Only affects multicopters and ROI mission items)",
      "type": "Int32",
      "values": [
        {
          "description": "Disable",
          "value": 0
        },
        {
          "description": "Enable",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "Mission",
      "increment": 1.0,
      "min": 0.0,
      "name": "MIS_PD_TO",
      "shortDesc": "Timeout for a successful payload deployment acknowledgement",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 2.5,
      "group": "Mission",
      "increment": 0.5,
      "longDesc": "This is the minimum altitude the system will take off to.",
      "max": 80.0,
      "min": 0.0,
      "name": "MIS_TAKEOFF_ALT",
      "shortDesc": "Take-off altitude",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Mission",
      "longDesc": "Specifies if a mission has to contain a takeoff and/or mission landing. Validity of configured takeoffs/landings is checked independently of the setting here.",
      "name": "MIS_TKO_LAND_REQ",
      "shortDesc": "Mission takeoff/landing required",
      "type": "Int32",
      "values": [
        {
          "description": "No requirements",
          "value": 0
        },
        {
          "description": "Require a takeoff",
          "value": 1
        },
        {
          "description": "Require a landing",
          "value": 2
        },
        {
          "description": "Require a takeoff and a landing",
          "value": 3
        },
        {
          "description": "Require both a takeoff and a landing, or neither",
          "value": 4
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 12.0,
      "group": "Mission",
      "increment": 1.0,
      "max": 90.0,
      "min": 0.0,
      "name": "MIS_YAW_ERR",
      "shortDesc": "Max yaw error in degrees needed for waypoint heading acceptance",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": -1.0,
      "group": "Mission",
      "increment": 1.0,
      "longDesc": "If set > 0 it will ignore the target heading for normal waypoint acceptance. If the waypoint forces the heading the timeout will matter. For example on VTOL forwards transition. Mainly useful for VTOLs that have less yaw authority and might not reach target yaw in wind. Disabled by default.",
      "max": 20.0,
      "min": -1.0,
      "name": "MIS_YAW_TMT",
      "shortDesc": "Time in seconds we wait on reaching target heading at a waypoint if it is forced",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Mission",
      "longDesc": "Specifies the heading in Auto.",
      "max": 4,
      "min": 0,
      "name": "MPC_YAW_MODE",
      "shortDesc": "Yaw mode",
      "type": "Int32",
      "values": [
        {
          "description": "towards waypoint",
          "value": 0
        },
        {
          "description": "towards home",
          "value": 1
        },
        {
          "description": "away from home",
          "value": 2
        },
        {
          "description": "along trajectory",
          "value": 3
        },
        {
          "description": "towards waypoint (yaw first)",
          "value": 4
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 10.0,
      "group": "Mission",
      "increment": 0.5,
      "longDesc": "Default acceptance radius, overridden by acceptance radius of waypoint if set. For fixed wing the npfg switch distance is used for horizontal acceptance.",
      "max": 200.0,
      "min": 0.05,
      "name": "NAV_ACC_RAD",
      "shortDesc": "Acceptance Radius",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Mission",
      "name": "NAV_FORCE_VT",
      "shortDesc": "Force VTOL mode takeoff and land",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "Mission",
      "longDesc": "Altitude acceptance used for the last waypoint before a fixed-wing landing. This is usually smaller than the standard vertical acceptance because close to the ground higher accuracy is required.",
      "max": 200.0,
      "min": 0.05,
      "name": "NAV_FW_ALTL_RAD",
      "shortDesc": "FW Altitude Acceptance Radius before a landing",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 10.0,
      "group": "Mission",
      "increment": 0.5,
      "longDesc": "Acceptance radius for fixedwing altitude.",
      "max": 200.0,
      "min": 0.05,
      "name": "NAV_FW_ALT_RAD",
      "shortDesc": "FW Altitude Acceptance Radius",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 80.0,
      "group": "Mission",
      "increment": 0.5,
      "longDesc": "Default value of loiter radius for missions, Hold mode, Return mode, etc. (fixedwing only).",
      "max": 1000.0,
      "min": 25.0,
      "name": "NAV_LOITER_RAD",
      "shortDesc": "Loiter radius (FW only)",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.8,
      "group": "Mission",
      "increment": 0.5,
      "longDesc": "Acceptance radius for multicopter altitude.",
      "max": 200.0,
      "min": 0.05,
      "name": "NAV_MC_ALT_RAD",
      "shortDesc": "MC Altitude Acceptance Radius",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": -1.0,
      "group": "Mission",
      "increment": 0.5,
      "longDesc": "This is the minimum altitude above Home the system will always obey in Loiter (Hold) mode if switched into this mode without specifying an altitude (e.g. through Loiter switch on RC). Doesn't affect Loiters that are part of Missions or that are entered through a reposition setpoint (\"Go to\"). Set to a negative value to disable.",
      "min": -1.0,
      "name": "NAV_MIN_LTR_ALT",
      "shortDesc": "Minimum Loiter altitude",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Mission",
      "longDesc": "Enabling this will allow the system to respond to transponder data from e.g. ADSB transponders",
      "name": "NAV_TRAFF_AVOID",
      "shortDesc": "Set traffic avoidance mode",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Warn only",
          "value": 1
        },
        {
          "description": "Return mode",
          "value": 2
        },
        {
          "description": "Land mode",
          "value": 3
        },
        {
          "description": "Position Hold mode",
          "value": 4
        }
      ]
    },
    {
      "category": "Standard",
      "default": 500.0,
      "group": "Mission",
      "longDesc": "Defines a crosstrack horizontal distance",
      "min": 500.0,
      "name": "NAV_TRAFF_A_HOR",
      "shortDesc": "Set NAV TRAFFIC AVOID horizontal distance",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 500.0,
      "group": "Mission",
      "max": 500.0,
      "min": 10.0,
      "name": "NAV_TRAFF_A_VER",
      "shortDesc": "Set NAV TRAFFIC AVOID vertical distance",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 60,
      "group": "Mission",
      "longDesc": "Minimum acceptable time until collsion. Assumes constant speed over 3d distance.",
      "max": 900000000,
      "min": 1,
      "name": "NAV_TRAFF_COLL_T",
      "shortDesc": "Estimated time until collision",
      "type": "Int32",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": -1.0,
      "group": "Mission",
      "increment": 0.5,
      "longDesc": "This is the weight of the vehicle at which it's performance limits were derived. A zero or negative value disables trim throttle and minimum airspeed compensation based on weight.",
      "name": "WEIGHT_BASE",
      "shortDesc": "Vehicle base weight",
      "type": "Float",
      "units": "kg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": -1.0,
      "group": "Mission",
      "increment": 0.1,
      "longDesc": "This is the actual weight of the vehicle at any time. This value will differ from WEIGHT_BASE in case weight was added or removed from the base weight. Examples are the addition of payloads or larger batteries. A zero or negative value disables trim throttle and minimum airspeed compensation based on weight.",
      "name": "WEIGHT_GROSS",
      "shortDesc": "Vehicle gross weight",
      "type": "Float",
      "units": "kg"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Mixer Output",
      "longDesc": "The air-mode enables the mixer to increase the total thrust of the multirotor in order to keep attitude and rate control even at low and high throttle. This function should be disabled during tuning as it will help the controller to diverge if the closed-loop is unstable (i.e. the vehicle is not tuned yet). Enabling air-mode for yaw requires the use of an arming switch.",
      "name": "MC_AIRMODE",
      "shortDesc": "Multicopter air-mode",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Roll/Pitch",
          "value": 1
        },
        {
          "description": "Roll/Pitch/Yaw",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Mount",
      "longDesc": "Set to true for servo gimbal, false for passthrough. This is required for a gimbal which is not capable of stabilizing itself and relies on the IMU's attitude estimation.",
      "max": 2,
      "min": 0,
      "name": "MNT_DO_STAB",
      "shortDesc": "Stabilize the mount",
      "type": "Int32",
      "values": [
        {
          "description": "Disable",
          "value": 0
        },
        {
          "description": "Stabilize all axis",
          "value": 1
        },
        {
          "description": "Stabilize yaw for absolute/lock mode.",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 90.0,
      "group": "Mount",
      "max": 90.0,
      "min": -90.0,
      "name": "MNT_LND_P_MAX",
      "shortDesc": "Pitch maximum when landed",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": -90.0,
      "group": "Mount",
      "max": 90.0,
      "min": -90.0,
      "name": "MNT_LND_P_MIN",
      "shortDesc": "Pitch minimum when landed",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Mount",
      "max": 6,
      "min": 0,
      "name": "MNT_MAN_PITCH",
      "shortDesc": "Auxiliary channel to control pitch (in AUX input or manual mode)",
      "type": "Int32",
      "values": [
        {
          "description": "Disable",
          "value": 0
        },
        {
          "description": "AUX1",
          "value": 1
        },
        {
          "description": "AUX2",
          "value": 2
        },
        {
          "description": "AUX3",
          "value": 3
        },
        {
          "description": "AUX4",
          "value": 4
        },
        {
          "description": "AUX5",
          "value": 5
        },
        {
          "description": "AUX6",
          "value": 6
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Mount",
      "max": 6,
      "min": 0,
      "name": "MNT_MAN_ROLL",
      "shortDesc": "Auxiliary channel to control roll (in AUX input or manual mode)",
      "type": "Int32",
      "values": [
        {
          "description": "Disable",
          "value": 0
        },
        {
          "description": "AUX1",
          "value": 1
        },
        {
          "description": "AUX2",
          "value": 2
        },
        {
          "description": "AUX3",
          "value": 3
        },
        {
          "description": "AUX4",
          "value": 4
        },
        {
          "description": "AUX5",
          "value": 5
        },
        {
          "description": "AUX6",
          "value": 6
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Mount",
      "max": 6,
      "min": 0,
      "name": "MNT_MAN_YAW",
      "shortDesc": "Auxiliary channel to control yaw (in AUX input or manual mode)",
      "type": "Int32",
      "values": [
        {
          "description": "Disable",
          "value": 0
        },
        {
          "description": "AUX1",
          "value": 1
        },
        {
          "description": "AUX2",
          "value": 2
        },
        {
          "description": "AUX3",
          "value": 3
        },
        {
          "description": "AUX4",
          "value": 4
        },
        {
          "description": "AUX5",
          "value": 5
        },
        {
          "description": "AUX6",
          "value": 6
        }
      ]
    },
    {
      "category": "Standard",
      "default": 154,
      "group": "Mount",
      "longDesc": "If MNT_MODE_OUT is MAVLink protocol v2, mount configure/control commands will be sent with this component ID.",
      "name": "MNT_MAV_COMPID",
      "shortDesc": "Mavlink Component ID of the mount",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Mount",
      "longDesc": "If MNT_MODE_OUT is MAVLink gimbal protocol v1, mount configure/control commands will be sent with this target ID.",
      "name": "MNT_MAV_SYSID",
      "shortDesc": "Mavlink System ID of the mount",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": -1,
      "group": "Mount",
      "longDesc": "This is the protocol used between the ground station and the autopilot. Recommended is Auto, RC only or MAVLink gimbal protocol v2. The rest will be deprecated.",
      "max": 4,
      "min": -1,
      "name": "MNT_MODE_IN",
      "rebootRequired": true,
      "shortDesc": "Mount input mode",
      "type": "Int32",
      "values": [
        {
          "description": "DISABLED",
          "value": -1
        },
        {
          "description": "Auto (RC and MAVLink gimbal protocol v2)",
          "value": 0
        },
        {
          "description": "RC",
          "value": 1
        },
        {
          "description": "MAVLINK_ROI (protocol v1, to be deprecated)",
          "value": 2
        },
        {
          "description": "MAVLINK_DO_MOUNT (protocol v1, to be deprecated)",
          "value": 3
        },
        {
          "description": "MAVlink gimbal protocol v2",
          "value": 4
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Mount",
      "longDesc": "This is the protocol used between the autopilot and a connected gimbal. Recommended is the MAVLink gimbal protocol v2 if the gimbal supports it.",
      "max": 2,
      "min": 0,
      "name": "MNT_MODE_OUT",
      "rebootRequired": true,
      "shortDesc": "Mount output mode",
      "type": "Int32",
      "values": [
        {
          "description": "AUX",
          "value": 0
        },
        {
          "description": "MAVLink gimbal protocol v1",
          "value": 1
        },
        {
          "description": "MAVLink gimbal protocol v2",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.0,
      "group": "Mount",
      "max": 360.0,
      "min": -360.0,
      "name": "MNT_OFF_PITCH",
      "shortDesc": "Offset for pitch channel output in degrees",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.0,
      "group": "Mount",
      "max": 360.0,
      "min": -360.0,
      "name": "MNT_OFF_ROLL",
      "shortDesc": "Offset for roll channel output in degrees",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.0,
      "group": "Mount",
      "max": 360.0,
      "min": -360.0,
      "name": "MNT_OFF_YAW",
      "shortDesc": "Offset for yaw channel output in degrees",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 90.0,
      "group": "Mount",
      "max": 720.0,
      "min": 1.0,
      "name": "MNT_RANGE_PITCH",
      "shortDesc": "Range of pitch channel output in degrees (only in AUX output mode)",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 90.0,
      "group": "Mount",
      "max": 720.0,
      "min": 1.0,
      "name": "MNT_RANGE_ROLL",
      "shortDesc": "Range of roll channel output in degrees (only in AUX output mode)",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 360.0,
      "group": "Mount",
      "max": 720.0,
      "min": 1.0,
      "name": "MNT_RANGE_YAW",
      "shortDesc": "Range of yaw channel output in degrees (only in AUX output mode)",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "default": 30.0,
      "group": "Mount",
      "longDesc": "Full stick input [-1..1] translats to [-pitch rate..pitch rate].",
      "max": 90.0,
      "min": 1.0,
      "name": "MNT_RATE_PITCH",
      "shortDesc": "Angular pitch rate for manual input in degrees/second",
      "type": "Float",
      "units": "deg/s"
    },
    {
      "category": "Standard",
      "default": 30.0,
      "group": "Mount",
      "longDesc": "Full stick input [-1..1] translats to [-yaw rate..yaw rate].",
      "max": 90.0,
      "min": 1.0,
      "name": "MNT_RATE_YAW",
      "shortDesc": "Angular yaw rate for manual input in degrees/second",
      "type": "Float",
      "units": "deg/s"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Mount",
      "max": 1,
      "min": 0,
      "name": "MNT_RC_IN_MODE",
      "shortDesc": "Input mode for RC gimbal input",
      "type": "Int32",
      "values": [
        {
          "description": "Angle",
          "value": 0
        },
        {
          "description": "Angular rate",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 220.0,
      "group": "Multicopter Attitude Control",
      "increment": 5.0,
      "longDesc": "Limit for pitch rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.",
      "max": 1800.0,
      "min": 0.0,
      "name": "MC_PITCHRATE_MAX",
      "shortDesc": "Max pitch rate",
      "type": "Float",
      "units": "deg/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 6.5,
      "group": "Multicopter Attitude Control",
      "increment": 0.1,
      "longDesc": "Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.",
      "max": 12.0,
      "min": 0.0,
      "name": "MC_PITCH_P",
      "shortDesc": "Pitch P gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 220.0,
      "group": "Multicopter Attitude Control",
      "increment": 5.0,
      "longDesc": "Limit for roll rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.",
      "max": 1800.0,
      "min": 0.0,
      "name": "MC_ROLLRATE_MAX",
      "shortDesc": "Max roll rate",
      "type": "Float",
      "units": "deg/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 6.5,
      "group": "Multicopter Attitude Control",
      "increment": 0.1,
      "longDesc": "Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.",
      "max": 12.0,
      "min": 0.0,
      "name": "MC_ROLL_P",
      "shortDesc": "Roll P gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 200.0,
      "group": "Multicopter Attitude Control",
      "increment": 5.0,
      "max": 1800.0,
      "min": 0.0,
      "name": "MC_YAWRATE_MAX",
      "shortDesc": "Max yaw rate",
      "type": "Float",
      "units": "deg/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 2.8,
      "group": "Multicopter Attitude Control",
      "increment": 0.1,
      "longDesc": "Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.",
      "max": 5.0,
      "min": 0.0,
      "name": "MC_YAW_P",
      "shortDesc": "Yaw P gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.4,
      "group": "Multicopter Attitude Control",
      "increment": 0.1,
      "longDesc": "A fraction [0,1] deprioritizing yaw compared to roll and pitch in non-linear attitude control. Deprioritizing yaw is necessary because multicopters have much less control authority in yaw compared to the other axes and it makes sense because yaw is not critical for stable hovering or 3D navigation. For yaw control tuning use MC_YAW_P. This ratio has no impact on the yaw gain.",
      "max": 1.0,
      "min": 0.0,
      "name": "MC_YAW_WEIGHT",
      "shortDesc": "Yaw weight",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 45.0,
      "group": "Multicopter Attitude Control",
      "increment": 5.0,
      "longDesc": "Limit the rate of change of the yaw setpoint in autonomous mode to avoid large control output and mixer saturation.",
      "max": 360.0,
      "min": 0.0,
      "name": "MPC_YAWRAUTO_MAX",
      "shortDesc": "Max yaw rate in auto mode",
      "type": "Float",
      "units": "deg/s"
    },
    {
      "category": "Standard",
      "default": 0.4,
      "group": "Multicopter Position Control",
      "longDesc": "Only used in Position mode.",
      "max": 1.0,
      "min": 0.0,
      "name": "CP_DELAY",
      "shortDesc": "Average delay of the range sensor message plus the tracking delay of the position controller in seconds",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": -1.0,
      "group": "Multicopter Position Control",
      "longDesc": "Only used in Position mode. Collision avoidance is disabled by setting this parameter to a negative value",
      "max": 15.0,
      "min": -1.0,
      "name": "CP_DIST",
      "shortDesc": "Minimum distance the vehicle should keep to all obstacles",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Multicopter Position Control",
      "longDesc": "Only used in Position mode.",
      "name": "CP_GO_NO_DATA",
      "shortDesc": "Boolean to allow moving into directions where there is no sensor data (outside FOV)",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 30.0,
      "group": "Multicopter Position Control",
      "longDesc": "Only used in Position mode.",
      "max": 90.0,
      "min": 0.0,
      "name": "CP_GUIDE_ANG",
      "shortDesc": "Angle left/right from the commanded setpoint by which the collision prevention algorithm can choose to change the setpoint direction",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Multicopter Position Control",
      "longDesc": "Setting this parameter to 0 disables the filter",
      "max": 2.0,
      "min": 0.0,
      "name": "MC_MAN_TILT_TAU",
      "shortDesc": "Manual tilt input filter time constant",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 3.0,
      "group": "Multicopter Position Control",
      "increment": 1.0,
      "max": 15.0,
      "min": 2.0,
      "name": "MPC_ACC_DOWN_MAX",
      "shortDesc": "Maximum vertical acceleration in velocity controlled modes down",
      "type": "Float",
      "units": "m/s^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 3.0,
      "group": "Multicopter Position Control",
      "increment": 1.0,
      "longDesc": "Note: In manual, this parameter is only used in MPC_POS_MODE 4.",
      "max": 15.0,
      "min": 2.0,
      "name": "MPC_ACC_HOR",
      "shortDesc": "Acceleration for auto and for manual",
      "type": "Float",
      "units": "m/s^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 5.0,
      "group": "Multicopter Position Control",
      "increment": 1.0,
      "longDesc": "MPC_POS_MODE 1 just deceleration 3 acceleration and deceleration 4 just acceleration",
      "max": 15.0,
      "min": 2.0,
      "name": "MPC_ACC_HOR_MAX",
      "shortDesc": "Maximum horizontal acceleration for auto mode and for manual mode",
      "type": "Float",
      "units": "m/s^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 4.0,
      "group": "Multicopter Position Control",
      "increment": 1.0,
      "max": 15.0,
      "min": 2.0,
      "name": "MPC_ACC_UP_MAX",
      "shortDesc": "Maximum vertical acceleration in velocity controlled modes upward",
      "type": "Float",
      "units": "m/s^2"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Multicopter Position Control",
      "longDesc": "Set to 0 to control height relative to the earth frame origin. This origin may move up and down in flight due to sensor drift. Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down with terrain height variation. Requires a distance to ground sensor. The height controller will revert to using height above origin if the distance to ground estimate becomes invalid as indicated by the local_position.distance_bottom_valid message being false. Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative to earth frame origin when moving horizontally. The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter.",
      "max": 2,
      "min": 0,
      "name": "MPC_ALT_MODE",
      "shortDesc": "Altitude control mode",
      "type": "Int32",
      "values": [
        {
          "description": "Altitude following",
          "value": 0
        },
        {
          "description": "Terrain following",
          "value": 1
        },
        {
          "description": "Terrain hold",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.1,
      "group": "Multicopter Position Control",
      "max": 1.0,
      "min": 0.0,
      "name": "MPC_HOLD_DZ",
      "shortDesc": "Deadzone of sticks where position hold is enabled",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.8,
      "group": "Multicopter Position Control",
      "max": 3.0,
      "min": 0.0,
      "name": "MPC_HOLD_MAX_XY",
      "shortDesc": "Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.6,
      "group": "Multicopter Position Control",
      "max": 3.0,
      "min": 0.0,
      "name": "MPC_HOLD_MAX_Z",
      "shortDesc": "Maximum vertical velocity for which position hold is enabled (use 0 to disable check)",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 4.0,
      "group": "Multicopter Position Control",
      "increment": 1.0,
      "longDesc": "Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions, but it also limits its agility.",
      "max": 80.0,
      "min": 1.0,
      "name": "MPC_JERK_AUTO",
      "shortDesc": "Jerk limit in auto mode",
      "type": "Float",
      "units": "m/s^3"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 8.0,
      "group": "Multicopter Position Control",
      "increment": 1.0,
      "longDesc": "Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions, but it also limits its agility (how fast it can change directions or break). Setting this to the maximum value essentially disables the limit. Note: This is only used when MPC_POS_MODE is set to a smoothing mode 3 or 4.",
      "max": 500.0,
      "min": 0.5,
      "name": "MPC_JERK_MAX",
      "shortDesc": "Maximum jerk limit",
      "type": "Float",
      "units": "m/s^3"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 10.0,
      "group": "Multicopter Position Control",
      "longDesc": "Below this altitude descending velocity gets limited to a value between \"MPC_Z_VEL_MAX_DN\" (or \"MPC_Z_V_AUTO_DN\") and \"MPC_LAND_SPEED\" Value needs to be higher than \"MPC_LAND_ALT2\"",
      "max": 122.0,
      "min": 0.0,
      "name": "MPC_LAND_ALT1",
      "shortDesc": "Altitude for 1. step of slow landing (descend)",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "Multicopter Position Control",
      "longDesc": "Below this altitude descending velocity gets limited to \"MPC_LAND_SPEED\" Value needs to be lower than \"MPC_LAND_ALT1\"",
      "max": 122.0,
      "min": 0.0,
      "name": "MPC_LAND_ALT2",
      "shortDesc": "Altitude for 2. step of slow landing (landing)",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 1.0,
      "group": "Multicopter Position Control",
      "longDesc": "Below this altitude descending velocity gets limited to \"MPC_LAND_CRWL\", if LIDAR available. No effect if LIDAR not available",
      "max": 122.0,
      "min": 0.0,
      "name": "MPC_LAND_ALT3",
      "shortDesc": "Altitude for 3. step of slow landing",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.3,
      "group": "Multicopter Position Control",
      "longDesc": "Used below MPC_LAND_ALT3 if distance sensor data is availabe.",
      "min": 0.1,
      "name": "MPC_LAND_CRWL",
      "shortDesc": "Land crawl descend rate",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 1000.0,
      "group": "Multicopter Position Control",
      "longDesc": "When user assisted descent is enabled (see MPC_LAND_RC_HELP), this parameter controls the maximum position adjustment allowed from the original landing point.",
      "min": 0.0,
      "name": "MPC_LAND_RADIUS",
      "shortDesc": "User assisted landing radius",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Multicopter Position Control",
      "longDesc": "When enabled, descent speed will be: stick full up - 0 stick centered - MPC_LAND_SPEED stick full down - 2 * MPC_LAND_SPEED Additionally, the vehicle can be yawed and moved laterally using the other sticks. Manual override during auto modes has to be disabled to use this feature (see COM_RC_OVERRIDE).",
      "max": 1,
      "min": 0,
      "name": "MPC_LAND_RC_HELP",
      "shortDesc": "Enable user assisted descent for autonomous land routine",
      "type": "Int32",
      "values": [
        {
          "description": "Fixed descent speed of MPC_LAND_SPEED",
          "value": 0
        },
        {
          "description": "User assisted descent speed",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.7,
      "group": "Multicopter Position Control",
      "min": 0.6,
      "name": "MPC_LAND_SPEED",
      "shortDesc": "Landing descend rate",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.08,
      "group": "Multicopter Position Control",
      "increment": 0.01,
      "longDesc": "Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. With MC_AIRMODE set to 1, this can safely be set to 0.",
      "max": 1.0,
      "min": 0.0,
      "name": "MPC_MANTHR_MIN",
      "shortDesc": "Minimum manual thrust",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 35.0,
      "group": "Multicopter Position Control",
      "max": 90.0,
      "min": 0.0,
      "name": "MPC_MAN_TILT_MAX",
      "shortDesc": "Maximal tilt angle in manual or altitude mode",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 150.0,
      "group": "Multicopter Position Control",
      "max": 400.0,
      "min": 0.0,
      "name": "MPC_MAN_Y_MAX",
      "shortDesc": "Max manual yaw rate",
      "type": "Float",
      "units": "deg/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.08,
      "group": "Multicopter Position Control",
      "longDesc": "Setting this parameter to 0 disables the filter",
      "max": 5.0,
      "min": 0.0,
      "name": "MPC_MAN_Y_TAU",
      "shortDesc": "Manual yaw rate input filter time constant",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 4,
      "group": "Multicopter Position Control",
      "longDesc": "The supported sub-modes are: 0 Simple position control where sticks map directly to velocity setpoints without smoothing. Useful for velocity control tuning. 3 Smooth position control with maximum acceleration and jerk limits based on jerk optimized trajectory generator (different algorithm than 1). 4 Smooth position control where sticks map to acceleration and there's a virtual brake drag",
      "name": "MPC_POS_MODE",
      "shortDesc": "Manual-Position control sub-mode",
      "type": "Int32",
      "values": [
        {
          "description": "Simple position control",
          "value": 0
        },
        {
          "description": "Smooth position control (Jerk optimized)",
          "value": 3
        },
        {
          "description": "Acceleration based input",
          "value": 4
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Multicopter Position Control",
      "longDesc": "This parameter defines how the throttle stick input is mapped to commanded thrust in Manual/Stabilized flight mode. In case the default is used ('Rescale to hover thrust'), the stick input is linearly rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER). Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful in case the hover thrust is very low and the default would lead to too much distortion (e.g. if hover thrust is set to 20%, 80% of the upper thrust range is squeezed into the upper half of the stick range). Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.",
      "name": "MPC_THR_CURVE",
      "shortDesc": "Thrust curve in Manual Mode",
      "type": "Int32",
      "values": [
        {
          "description": "Rescale to hover thrust",
          "value": 0
        },
        {
          "description": "No Rescale",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.5,
      "group": "Multicopter Position Control",
      "increment": 0.01,
      "longDesc": "Vertical thrust required to hover. This value is mapped to center stick for manual throttle control. With this value set to the thrust required to hover, transition from manual to Altitude or Position mode while hovering will occur with the throttle stick near center, which is then interpreted as (near) zero demand for vertical speed. This parameter is also important for the landing detection to work correctly.",
      "max": 0.8,
      "min": 0.1,
      "name": "MPC_THR_HOVER",
      "shortDesc": "Hover thrust",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 1.0,
      "group": "Multicopter Position Control",
      "increment": 0.01,
      "longDesc": "Limit max allowed thrust",
      "max": 1.0,
      "min": 0.0,
      "name": "MPC_THR_MAX",
      "shortDesc": "Maximum thrust in auto thrust control",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.12,
      "group": "Multicopter Position Control",
      "increment": 0.01,
      "longDesc": "It's recommended to set it > 0 to avoid free fall with zero thrust. Note: Without airmode zero thrust leads to zero roll/pitch control authority. (see MC_AIRMODE)",
      "max": 1.0,
      "min": 0.05,
      "name": "MPC_THR_MIN",
      "shortDesc": "Minimum collective thrust in auto thrust control",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.3,
      "group": "Multicopter Position Control",
      "increment": 0.01,
      "longDesc": "Margin that is kept for horizontal control when prioritizing vertical thrust. To avoid completely starving horizontal control with high vertical error.",
      "max": 0.5,
      "min": 0.0,
      "name": "MPC_THR_XY_MARG",
      "shortDesc": "Horizontal thrust margin",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 45.0,
      "group": "Multicopter Position Control",
      "longDesc": "Limits maximum tilt in AUTO and POSCTRL modes during flight.",
      "max": 89.0,
      "min": 20.0,
      "name": "MPC_TILTMAX_AIR",
      "shortDesc": "Maximum tilt angle in air",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 12.0,
      "group": "Multicopter Position Control",
      "longDesc": "Limits maximum tilt angle on landing.",
      "max": 89.0,
      "min": 10.0,
      "name": "MPC_TILTMAX_LND",
      "shortDesc": "Maximum tilt during landing",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "default": 3.0,
      "group": "Multicopter Position Control",
      "longDesc": "Increasing this value will make automatic and manual takeoff slower. If it's too slow the drone might scratch the ground and tip over. A time constant of 0 disables the ramp",
      "max": 5.0,
      "min": 0.0,
      "name": "MPC_TKO_RAMP_T",
      "shortDesc": "Position control smooth takeoff ramp time constant",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 1.5,
      "group": "Multicopter Position Control",
      "max": 5.0,
      "min": 1.0,
      "name": "MPC_TKO_SPEED",
      "shortDesc": "Takeoff climb rate",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Multicopter Position Control",
      "longDesc": "Set false to use the fixed parameter MPC_THR_HOVER Set true to use the value computed by the hover thrust estimator",
      "name": "MPC_USE_HTE",
      "shortDesc": "Hover thrust source selector",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 5.0,
      "group": "Multicopter Position Control",
      "max": 10.0,
      "min": 0.0,
      "name": "MPC_VELD_LP",
      "shortDesc": "Low pass filter cut freq. for numerical velocity derivative",
      "type": "Float",
      "units": "Hz"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 10.0,
      "group": "Multicopter Position Control",
      "increment": 1.0,
      "longDesc": "If velocity setpoint larger than MPC_XY_VEL_MAX is set, then the setpoint will be capped to MPC_XY_VEL_MAX The maximum sideways and backward speed can be set differently using MPC_VEL_MAN_SIDE and MPC_VEL_MAN_BACK, respectively.",
      "max": 20.0,
      "min": 3.0,
      "name": "MPC_VEL_MANUAL",
      "shortDesc": "Maximum horizontal velocity setpoint in Position mode",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": -1.0,
      "group": "Multicopter Position Control",
      "increment": 0.1,
      "longDesc": "If set to a negative value or larger than MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.",
      "max": 20.0,
      "min": -1.0,
      "name": "MPC_VEL_MAN_BACK",
      "shortDesc": "Maximum backward velocity in Position mode",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": -1.0,
      "group": "Multicopter Position Control",
      "increment": 0.1,
      "longDesc": "If set to a negative value or larger than MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.",
      "max": 20.0,
      "min": -1.0,
      "name": "MPC_VEL_MAN_SIDE",
      "shortDesc": "Maximum sideways velocity in Position mode",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 5.0,
      "group": "Multicopter Position Control",
      "increment": 1.0,
      "longDesc": "Horizontal velocity used when flying autonomously in e.g. Missions, RTL, Goto.",
      "max": 20.0,
      "min": 3.0,
      "name": "MPC_XY_CRUISE",
      "shortDesc": "Default horizontal velocity in mission",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 2.0,
      "group": "Multicopter Position Control",
      "longDesc": "The integration speed of the trajectory setpoint is linearly reduced with the horizontal position tracking error. When the error is above this parameter, the integration of the trajectory is stopped to wait for the drone. This value can be adjusted depending on the tracking capabilities of the vehicle.",
      "max": 10.0,
      "min": 0.1,
      "name": "MPC_XY_ERR_MAX",
      "shortDesc": "Maximum horizontal error allowed by the trajectory generator",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.6,
      "group": "Multicopter Position Control",
      "longDesc": "The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve",
      "max": 1.0,
      "min": 0.0,
      "name": "MPC_XY_MAN_EXPO",
      "shortDesc": "Manual position control stick exponential curve sensitivity",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.95,
      "group": "Multicopter Position Control",
      "max": 2.0,
      "min": 0.0,
      "name": "MPC_XY_P",
      "shortDesc": "Proportional gain for horizontal position error",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.5,
      "group": "Multicopter Position Control",
      "max": 1.0,
      "min": 0.1,
      "name": "MPC_XY_TRAJ_P",
      "shortDesc": "Proportional gain for horizontal trajectory position error",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": -10.0,
      "group": "Multicopter Position Control",
      "increment": 1.0,
      "longDesc": "If set to a value greater than zero, other parameters are automatically set (such as MPC_XY_VEL_MAX or MPC_VEL_MANUAL). If set to a negative value, the existing individual parameters are used.",
      "max": 20.0,
      "min": -20.0,
      "name": "MPC_XY_VEL_ALL",
      "shortDesc": "Overall Horizontal Velocity Limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.2,
      "group": "Multicopter Position Control",
      "longDesc": "defined as correction acceleration in m/s^2 per m/s^2 velocity derivative",
      "max": 2.0,
      "min": 0.1,
      "name": "MPC_XY_VEL_D_ACC",
      "shortDesc": "Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.4,
      "group": "Multicopter Position Control",
      "longDesc": "defined as correction acceleration in m/s^2 per m velocity integral Non-zero value allows to eliminate steady state errors in the presence of disturbances like wind.",
      "max": 60.0,
      "min": 0.0,
      "name": "MPC_XY_VEL_I_ACC",
      "shortDesc": "Integral gain for horizontal velocity error",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 12.0,
      "group": "Multicopter Position Control",
      "increment": 1.0,
      "longDesc": "Maximum horizontal velocity in AUTO mode. If higher speeds are commanded in a mission they will be capped to this velocity.",
      "max": 20.0,
      "min": 0.0,
      "name": "MPC_XY_VEL_MAX",
      "shortDesc": "Maximum horizontal velocity",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 1.8,
      "group": "Multicopter Position Control",
      "longDesc": "defined as correction acceleration in m/s^2 per m/s velocity error",
      "max": 5.0,
      "min": 1.2,
      "name": "MPC_XY_VEL_P_ACC",
      "shortDesc": "Proportional gain for horizontal velocity error",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.6,
      "group": "Multicopter Position Control",
      "longDesc": "The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve",
      "max": 1.0,
      "min": 0.0,
      "name": "MPC_YAW_EXPO",
      "shortDesc": "Manual control stick yaw rotation exponential curve",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.6,
      "group": "Multicopter Position Control",
      "longDesc": "The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve",
      "max": 1.0,
      "min": 0.0,
      "name": "MPC_Z_MAN_EXPO",
      "shortDesc": "Manual control stick vertical exponential curve",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 1.0,
      "group": "Multicopter Position Control",
      "max": 1.5,
      "min": 0.0,
      "name": "MPC_Z_P",
      "shortDesc": "Proportional gain for vertical position error",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": -3.0,
      "group": "Multicopter Position Control",
      "increment": 0.5,
      "longDesc": "If set to a value greater than zero, other parameters are automatically set (such as MPC_Z_VEL_MAX_UP or MPC_LAND_SPEED). If set to a negative value, the existing individual parameters are used.",
      "max": 8.0,
      "min": -3.0,
      "name": "MPC_Z_VEL_ALL",
      "shortDesc": "Overall Vertical Velocity Limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Multicopter Position Control",
      "longDesc": "defined as correction acceleration in m/s^2 per m/s^2 velocity derivative",
      "max": 2.0,
      "min": 0.0,
      "name": "MPC_Z_VEL_D_ACC",
      "shortDesc": "Differential gain for vertical velocity error",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 2.0,
      "group": "Multicopter Position Control",
      "longDesc": "defined as correction acceleration in m/s^2 per m velocity integral Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.",
      "max": 3.0,
      "min": 0.2,
      "name": "MPC_Z_VEL_I_ACC",
      "shortDesc": "Integral gain for vertical velocity error",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 1.5,
      "group": "Multicopter Position Control",
      "increment": 0.1,
      "longDesc": "Descent velocity in manual modes and offboard. For auto modes, see MPC_Z_V_AUTO_DN",
      "max": 4.0,
      "min": 0.5,
      "name": "MPC_Z_VEL_MAX_DN",
      "shortDesc": "Maximum descent velocity",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 3.0,
      "group": "Multicopter Position Control",
      "increment": 0.1,
      "longDesc": "Ascent velocity in manual modes and offboard. For auto modes, see MPC_Z_V_AUTO_UP",
      "max": 8.0,
      "min": 0.5,
      "name": "MPC_Z_VEL_MAX_UP",
      "shortDesc": "Maximum ascent velocity",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 4.0,
      "group": "Multicopter Position Control",
      "longDesc": "defined as correction acceleration in m/s^2 per m/s velocity error",
      "max": 15.0,
      "min": 2.0,
      "name": "MPC_Z_VEL_P_ACC",
      "shortDesc": "Proportional gain for vertical velocity error",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 1.5,
      "group": "Multicopter Position Control",
      "increment": 0.1,
      "longDesc": "Descent velocity in auto modes. For manual modes and offboard, see MPC_Z_VEL_MAX_DN",
      "max": 4.0,
      "min": 0.5,
      "name": "MPC_Z_V_AUTO_DN",
      "shortDesc": "Automatic descent velocity",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 3.0,
      "group": "Multicopter Position Control",
      "increment": 0.1,
      "longDesc": "Ascent velocity in auto modes. For manual modes and offboard, see MPC_Z_VEL_MAX_UP",
      "max": 8.0,
      "min": 0.5,
      "name": "MPC_Z_V_AUTO_UP",
      "shortDesc": "Automatic ascent velocity",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": -0.4,
      "group": "Multicopter Position Control",
      "increment": 0.05,
      "longDesc": "Changes the overall responsiveness of the vehicle. The higher the value, the faster the vehicle will react. If set to a value greater than zero, other parameters are automatically set (such as the acceleration or jerk limits). If set to a negative value, the existing individual parameters are used.",
      "max": 1.0,
      "min": -1.0,
      "name": "SYS_VEHICLE_RESP",
      "shortDesc": "Responsiveness",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Multicopter Position Control",
      "name": "WV_EN",
      "shortDesc": "Enable weathervane",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "Multicopter Position Control",
      "max": 5.0,
      "min": 0.0,
      "name": "WV_ROLL_MIN",
      "shortDesc": "Minimum roll angle setpoint for weathervane controller to demand a yaw-rate",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "default": 90.0,
      "group": "Multicopter Position Control",
      "max": 120.0,
      "min": 0.0,
      "name": "WV_YRATE_MAX",
      "shortDesc": "Maximum yawrate the weathervane controller is allowed to demand",
      "type": "Float",
      "units": "deg/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.69,
      "group": "Multicopter Rate Control",
      "longDesc": "Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve",
      "max": 1.0,
      "min": 0.0,
      "name": "MC_ACRO_EXPO",
      "shortDesc": "Acro mode Expo factor for Roll and Pitch",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.69,
      "group": "Multicopter Rate Control",
      "longDesc": "Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve",
      "max": 1.0,
      "min": 0.0,
      "name": "MC_ACRO_EXPO_Y",
      "shortDesc": "Acro mode Expo factor for Yaw",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 720.0,
      "group": "Multicopter Rate Control",
      "increment": 5.0,
      "longDesc": "default: 2 turns per second",
      "max": 1800.0,
      "min": 0.0,
      "name": "MC_ACRO_P_MAX",
      "shortDesc": "Max acro pitch rate",
      "type": "Float",
      "units": "deg/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 720.0,
      "group": "Multicopter Rate Control",
      "increment": 5.0,
      "longDesc": "default: 2 turns per second",
      "max": 1800.0,
      "min": 0.0,
      "name": "MC_ACRO_R_MAX",
      "shortDesc": "Max acro roll rate",
      "type": "Float",
      "units": "deg/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.7,
      "group": "Multicopter Rate Control",
      "longDesc": "SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO. 0 Pure Expo function 0.7 reasonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect",
      "max": 0.95,
      "min": 0.0,
      "name": "MC_ACRO_SUPEXPO",
      "shortDesc": "Acro mode SuperExpo factor for Roll and Pitch",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.7,
      "group": "Multicopter Rate Control",
      "longDesc": "SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y. 0 Pure Expo function 0.7 reasonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect",
      "max": 0.95,
      "min": 0.0,
      "name": "MC_ACRO_SUPEXPOY",
      "shortDesc": "Acro mode SuperExpo factor for Yaw",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 540.0,
      "group": "Multicopter Rate Control",
      "increment": 5.0,
      "longDesc": "default 1.5 turns per second",
      "max": 1800.0,
      "min": 0.0,
      "name": "MC_ACRO_Y_MAX",
      "shortDesc": "Max acro yaw rate",
      "type": "Float",
      "units": "deg/s"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Multicopter Rate Control",
      "longDesc": "This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.",
      "name": "MC_BAT_SCALE_EN",
      "shortDesc": "Battery power level scaler",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 4,
      "default": 0.003,
      "group": "Multicopter Rate Control",
      "increment": 0.0005,
      "longDesc": "Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.",
      "min": 0.0,
      "name": "MC_PITCHRATE_D",
      "shortDesc": "Pitch rate D gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 4,
      "default": 0.0,
      "group": "Multicopter Rate Control",
      "longDesc": "Improves tracking performance.",
      "min": 0.0,
      "name": "MC_PITCHRATE_FF",
      "shortDesc": "Pitch rate feedforward",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.2,
      "group": "Multicopter Rate Control",
      "increment": 0.01,
      "longDesc": "Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.",
      "min": 0.0,
      "name": "MC_PITCHRATE_I",
      "shortDesc": "Pitch rate I gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 4,
      "default": 1.0,
      "group": "Multicopter Rate Control",
      "increment": 0.0005,
      "longDesc": "Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_PITCHRATE_K * (MC_PITCHRATE_P * error + MC_PITCHRATE_I * error_integral + MC_PITCHRATE_D * error_derivative) Set MC_PITCHRATE_P=1 to implement a PID in the ideal form. Set MC_PITCHRATE_K=1 to implement a PID in the parallel form.",
      "max": 5.0,
      "min": 0.01,
      "name": "MC_PITCHRATE_K",
      "shortDesc": "Pitch rate controller gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.15,
      "group": "Multicopter Rate Control",
      "increment": 0.01,
      "longDesc": "Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.",
      "max": 0.6,
      "min": 0.01,
      "name": "MC_PITCHRATE_P",
      "shortDesc": "Pitch rate P gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.3,
      "group": "Multicopter Rate Control",
      "increment": 0.01,
      "longDesc": "Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes.",
      "min": 0.0,
      "name": "MC_PR_INT_LIM",
      "shortDesc": "Pitch rate integrator limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 4,
      "default": 0.003,
      "group": "Multicopter Rate Control",
      "increment": 0.0005,
      "longDesc": "Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.",
      "max": 0.01,
      "min": 0.0,
      "name": "MC_ROLLRATE_D",
      "shortDesc": "Roll rate D gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 4,
      "default": 0.0,
      "group": "Multicopter Rate Control",
      "longDesc": "Improves tracking performance.",
      "min": 0.0,
      "name": "MC_ROLLRATE_FF",
      "shortDesc": "Roll rate feedforward",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.2,
      "group": "Multicopter Rate Control",
      "increment": 0.01,
      "longDesc": "Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.",
      "min": 0.0,
      "name": "MC_ROLLRATE_I",
      "shortDesc": "Roll rate I gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 4,
      "default": 1.0,
      "group": "Multicopter Rate Control",
      "increment": 0.0005,
      "longDesc": "Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_ROLLRATE_K * (MC_ROLLRATE_P * error + MC_ROLLRATE_I * error_integral + MC_ROLLRATE_D * error_derivative) Set MC_ROLLRATE_P=1 to implement a PID in the ideal form. Set MC_ROLLRATE_K=1 to implement a PID in the parallel form.",
      "max": 5.0,
      "min": 0.01,
      "name": "MC_ROLLRATE_K",
      "shortDesc": "Roll rate controller gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.15,
      "group": "Multicopter Rate Control",
      "increment": 0.01,
      "longDesc": "Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.",
      "max": 0.5,
      "min": 0.01,
      "name": "MC_ROLLRATE_P",
      "shortDesc": "Roll rate P gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.3,
      "group": "Multicopter Rate Control",
      "increment": 0.01,
      "longDesc": "Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes.",
      "min": 0.0,
      "name": "MC_RR_INT_LIM",
      "shortDesc": "Roll rate integrator limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Multicopter Rate Control",
      "increment": 0.01,
      "longDesc": "Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.",
      "min": 0.0,
      "name": "MC_YAWRATE_D",
      "shortDesc": "Yaw rate D gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 4,
      "default": 0.0,
      "group": "Multicopter Rate Control",
      "increment": 0.01,
      "longDesc": "Improves tracking performance.",
      "min": 0.0,
      "name": "MC_YAWRATE_FF",
      "shortDesc": "Yaw rate feedforward",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.1,
      "group": "Multicopter Rate Control",
      "increment": 0.01,
      "longDesc": "Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.",
      "min": 0.0,
      "name": "MC_YAWRATE_I",
      "shortDesc": "Yaw rate I gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 4,
      "default": 1.0,
      "group": "Multicopter Rate Control",
      "increment": 0.0005,
      "longDesc": "Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_YAWRATE_K * (MC_YAWRATE_P * error + MC_YAWRATE_I * error_integral + MC_YAWRATE_D * error_derivative) Set MC_YAWRATE_P=1 to implement a PID in the ideal form. Set MC_YAWRATE_K=1 to implement a PID in the parallel form.",
      "max": 5.0,
      "min": 0.0,
      "name": "MC_YAWRATE_K",
      "shortDesc": "Yaw rate controller gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.2,
      "group": "Multicopter Rate Control",
      "increment": 0.01,
      "longDesc": "Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.",
      "max": 0.6,
      "min": 0.0,
      "name": "MC_YAWRATE_P",
      "shortDesc": "Yaw rate P gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.3,
      "group": "Multicopter Rate Control",
      "increment": 0.01,
      "longDesc": "Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes.",
      "min": 0.0,
      "name": "MC_YR_INT_LIM",
      "shortDesc": "Yaw rate integrator limit",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "OSD",
      "longDesc": "Controls the vertical position of the crosshair display. Resolution is limited by OSD to 15 discrete values. Negative values will display the crosshairs below the horizon",
      "max": 8,
      "min": -8,
      "name": "OSD_CH_HEIGHT",
      "shortDesc": "OSD Crosshairs Height",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 500,
      "group": "OSD",
      "longDesc": "Amount of time in milliseconds to dwell at the beginning of the display, when scrolling.",
      "max": 10000,
      "min": 100,
      "name": "OSD_DWELL_TIME",
      "shortDesc": "OSD Dwell Time (ms)",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 3,
      "group": "OSD",
      "longDesc": "Minimum security of log level to display on the OSD.",
      "name": "OSD_LOG_LEVEL",
      "shortDesc": "OSD Warning Level",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 125,
      "group": "OSD",
      "longDesc": "Scroll rate in milliseconds for OSD messages longer than available character width. This is lower-bounded by the nominal loop rate of this module.",
      "max": 1000,
      "min": 100,
      "name": "OSD_SCROLL_RATE",
      "shortDesc": "OSD Scroll Rate (ms)",
      "type": "Int32"
    },
    {
      "bitmask": [
        {
          "description": "CRAFT_NAME",
          "index": 0
        },
        {
          "description": "DISARMED",
          "index": 1
        },
        {
          "description": "GPS_LAT",
          "index": 2
        },
        {
          "description": "GPS_LON",
          "index": 3
        },
        {
          "description": "GPS_SATS",
          "index": 4
        },
        {
          "description": "GPS_SPEED",
          "index": 5
        },
        {
          "description": "HOME_DIST",
          "index": 6
        },
        {
          "description": "HOME_DIR",
          "index": 7
        },
        {
          "description": "MAIN_BATT_VOLTAGE",
          "index": 8
        },
        {
          "description": "CURRENT_DRAW",
          "index": 9
        },
        {
          "description": "MAH_DRAWN",
          "index": 10
        },
        {
          "description": "RSSI_VALUE",
          "index": 11
        },
        {
          "description": "ALTITUDE",
          "index": 12
        },
        {
          "description": "NUMERICAL_VARIO",
          "index": 13
        },
        {
          "description": "(unused) FLYMODE",
          "index": 14
        },
        {
          "description": "(unused) ESC_TMP",
          "index": 15
        },
        {
          "description": "(unused) PITCH_ANGLE",
          "index": 16
        },
        {
          "description": "(unused) ROLL_ANGLE",
          "index": 17
        },
        {
          "description": "CROSSHAIRS",
          "index": 18
        },
        {
          "description": "AVG_CELL_VOLTAGE",
          "index": 19
        },
        {
          "description": "(unused) HORIZON_SIDEBARS",
          "index": 20
        },
        {
          "description": "POWER",
          "index": 21
        }
      ],
      "category": "Standard",
      "default": 16383,
      "group": "OSD",
      "longDesc": "Configure / toggle support display options.",
      "max": 4194303,
      "min": 0,
      "name": "OSD_SYMBOLS",
      "shortDesc": "OSD Symbol Selection",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "PWM Outputs",
      "longDesc": "Minimum time allowed for the motor input signal to pass through a range of 1000 PWM units. A value x means that the motor signal can only go from 1000 to 2000 PWM in minimum x seconds. Zero means that slew rate limiting is disabled.",
      "min": 0.0,
      "name": "MOT_SLEW_MAX",
      "shortDesc": "Minimum motor rise time (slew rate limit)",
      "type": "Float",
      "units": "s/(1000*PWM)"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.0,
      "group": "PWM Outputs",
      "increment": 0.1,
      "longDesc": "Parameter used to model the nonlinear relationship between motor control signal (e.g. PWM) and static thrust. The model is: rel_thrust = factor * rel_signal^2 + (1-factor) * rel_signal, where rel_thrust is the normalized thrust between 0 and 1, and rel_signal is the relative motor control signal between 0 and 1.",
      "max": 1.0,
      "min": 0.0,
      "name": "THR_MDL_FAC",
      "shortDesc": "Thrust to motor control signal model parameter",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Payload Deliverer",
      "name": "PD_GRIPPER_EN",
      "rebootRequired": true,
      "shortDesc": "Enable Gripper actuation in Payload Deliverer",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 3.0,
      "group": "Payload Deliverer",
      "longDesc": "Maximum time Gripper will wait while the successful griper actuation isn't recognised. If the gripper has no feedback sensor, it will simply wait for this time before considering gripper actuation successful and publish a 'VehicleCommandAck' signaling successful gripper action",
      "min": 0.0,
      "name": "PD_GRIPPER_TO",
      "shortDesc": "Timeout for successful gripper actuation acknowledgement",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Payload Deliverer",
      "max": 0,
      "min": -1,
      "name": "PD_GRIPPER_TYPE",
      "shortDesc": "Type of Gripper (Servo, etc.)",
      "type": "Int32",
      "values": [
        {
          "description": "Undefined",
          "value": -1
        },
        {
          "description": "Servo",
          "value": 0
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "Precision Land",
      "increment": 0.5,
      "longDesc": "Time after which the landing target is considered lost without any new measurements.",
      "max": 50.0,
      "min": 0.0,
      "name": "PLD_BTOUT",
      "shortDesc": "Landing Target Timeout",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.1,
      "group": "Precision Land",
      "increment": 0.1,
      "longDesc": "Allow final approach (without horizontal positioning) if losing landing target closer than this to the ground.",
      "max": 10.0,
      "min": 0.0,
      "name": "PLD_FAPPR_ALT",
      "shortDesc": "Final approach altitude",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.2,
      "group": "Precision Land",
      "increment": 0.1,
      "longDesc": "Start descending if closer above landing target than this.",
      "max": 10.0,
      "min": 0.0,
      "name": "PLD_HACC_RAD",
      "shortDesc": "Horizontal acceptance radius",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 3,
      "group": "Precision Land",
      "longDesc": "Maximum number of times to search for the landing target if it is lost during the precision landing.",
      "max": 100,
      "min": 0,
      "name": "PLD_MAX_SRCH",
      "shortDesc": "Maximum number of search attempts",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 10.0,
      "group": "Precision Land",
      "increment": 0.1,
      "longDesc": "Altitude above home to which to climb when searching for the landing target.",
      "max": 100.0,
      "min": 0.0,
      "name": "PLD_SRCH_ALT",
      "shortDesc": "Search altitude",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 10.0,
      "group": "Precision Land",
      "increment": 0.1,
      "longDesc": "Time allowed to search for the landing target before falling back to normal landing.",
      "max": 100.0,
      "min": 0.0,
      "name": "PLD_SRCH_TOUT",
      "shortDesc": "Search timeout",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "Radio Calibration",
      "longDesc": "The +- range of this value around the trim value will be considered as zero.",
      "max": 100.0,
      "min": 0.0,
      "name": "RC10_DZ",
      "shortDesc": "RC channel 10 dead zone",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 2000.0,
      "group": "Radio Calibration",
      "longDesc": "Maximum value for this channel.",
      "max": 2200.0,
      "min": 1500.0,
      "name": "RC10_MAX",
      "shortDesc": "RC channel 10 maximum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1000.0,
      "group": "Radio Calibration",
      "longDesc": "Minimum value for this channel.",
      "max": 1500.0,
      "min": 800.0,
      "name": "RC10_MIN",
      "shortDesc": "RC channel 10 minimum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "Radio Calibration",
      "longDesc": "Set to -1 to reverse channel.",
      "max": 1.0,
      "min": -1.0,
      "name": "RC10_REV",
      "shortDesc": "RC channel 10 reverse",
      "type": "Float",
      "values": [
        {
          "description": "Reverse",
          "value": -1.0
        },
        {
          "description": "Normal",
          "value": 1.0
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1500.0,
      "group": "Radio Calibration",
      "longDesc": "Mid point value",
      "max": 2200.0,
      "min": 800.0,
      "name": "RC10_TRIM",
      "shortDesc": "RC channel 10 trim",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "Radio Calibration",
      "longDesc": "The +- range of this value around the trim value will be considered as zero.",
      "max": 100.0,
      "min": 0.0,
      "name": "RC11_DZ",
      "shortDesc": "RC channel 11 dead zone",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 2000.0,
      "group": "Radio Calibration",
      "longDesc": "Maximum value for this channel.",
      "max": 2200.0,
      "min": 1500.0,
      "name": "RC11_MAX",
      "shortDesc": "RC channel 11 maximum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1000.0,
      "group": "Radio Calibration",
      "longDesc": "Minimum value for this channel.",
      "max": 1500.0,
      "min": 800.0,
      "name": "RC11_MIN",
      "shortDesc": "RC channel 11 minimum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "Radio Calibration",
      "longDesc": "Set to -1 to reverse channel.",
      "max": 1.0,
      "min": -1.0,
      "name": "RC11_REV",
      "shortDesc": "RC channel 11 reverse",
      "type": "Float",
      "values": [
        {
          "description": "Reverse",
          "value": -1.0
        },
        {
          "description": "Normal",
          "value": 1.0
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1500.0,
      "group": "Radio Calibration",
      "longDesc": "Mid point value",
      "max": 2200.0,
      "min": 800.0,
      "name": "RC11_TRIM",
      "shortDesc": "RC channel 11 trim",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "Radio Calibration",
      "longDesc": "The +- range of this value around the trim value will be considered as zero.",
      "max": 100.0,
      "min": 0.0,
      "name": "RC12_DZ",
      "shortDesc": "RC channel 12 dead zone",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 2000.0,
      "group": "Radio Calibration",
      "longDesc": "Maximum value for this channel.",
      "max": 2200.0,
      "min": 1500.0,
      "name": "RC12_MAX",
      "shortDesc": "RC channel 12 maximum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1000.0,
      "group": "Radio Calibration",
      "longDesc": "Minimum value for this channel.",
      "max": 1500.0,
      "min": 800.0,
      "name": "RC12_MIN",
      "shortDesc": "RC channel 12 minimum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "Radio Calibration",
      "longDesc": "Set to -1 to reverse channel.",
      "max": 1.0,
      "min": -1.0,
      "name": "RC12_REV",
      "shortDesc": "RC channel 12 reverse",
      "type": "Float",
      "values": [
        {
          "description": "Reverse",
          "value": -1.0
        },
        {
          "description": "Normal",
          "value": 1.0
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1500.0,
      "group": "Radio Calibration",
      "longDesc": "Mid point value",
      "max": 2200.0,
      "min": 800.0,
      "name": "RC12_TRIM",
      "shortDesc": "RC channel 12 trim",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "Radio Calibration",
      "longDesc": "The +- range of this value around the trim value will be considered as zero.",
      "max": 100.0,
      "min": 0.0,
      "name": "RC13_DZ",
      "shortDesc": "RC channel 13 dead zone",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 2000.0,
      "group": "Radio Calibration",
      "longDesc": "Maximum value for this channel.",
      "max": 2200.0,
      "min": 1500.0,
      "name": "RC13_MAX",
      "shortDesc": "RC channel 13 maximum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1000.0,
      "group": "Radio Calibration",
      "longDesc": "Minimum value for this channel.",
      "max": 1500.0,
      "min": 800.0,
      "name": "RC13_MIN",
      "shortDesc": "RC channel 13 minimum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "Radio Calibration",
      "longDesc": "Set to -1 to reverse channel.",
      "max": 1.0,
      "min": -1.0,
      "name": "RC13_REV",
      "shortDesc": "RC channel 13 reverse",
      "type": "Float",
      "values": [
        {
          "description": "Reverse",
          "value": -1.0
        },
        {
          "description": "Normal",
          "value": 1.0
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1500.0,
      "group": "Radio Calibration",
      "longDesc": "Mid point value",
      "max": 2200.0,
      "min": 800.0,
      "name": "RC13_TRIM",
      "shortDesc": "RC channel 13 trim",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "Radio Calibration",
      "longDesc": "The +- range of this value around the trim value will be considered as zero.",
      "max": 100.0,
      "min": 0.0,
      "name": "RC14_DZ",
      "shortDesc": "RC channel 14 dead zone",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 2000.0,
      "group": "Radio Calibration",
      "longDesc": "Maximum value for this channel.",
      "max": 2200.0,
      "min": 1500.0,
      "name": "RC14_MAX",
      "shortDesc": "RC channel 14 maximum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1000.0,
      "group": "Radio Calibration",
      "longDesc": "Minimum value for this channel.",
      "max": 1500.0,
      "min": 800.0,
      "name": "RC14_MIN",
      "shortDesc": "RC channel 14 minimum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "Radio Calibration",
      "longDesc": "Set to -1 to reverse channel.",
      "max": 1.0,
      "min": -1.0,
      "name": "RC14_REV",
      "shortDesc": "RC channel 14 reverse",
      "type": "Float",
      "values": [
        {
          "description": "Reverse",
          "value": -1.0
        },
        {
          "description": "Normal",
          "value": 1.0
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1500.0,
      "group": "Radio Calibration",
      "longDesc": "Mid point value",
      "max": 2200.0,
      "min": 800.0,
      "name": "RC14_TRIM",
      "shortDesc": "RC channel 14 trim",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "Radio Calibration",
      "longDesc": "The +- range of this value around the trim value will be considered as zero.",
      "max": 100.0,
      "min": 0.0,
      "name": "RC15_DZ",
      "shortDesc": "RC channel 15 dead zone",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 2000.0,
      "group": "Radio Calibration",
      "longDesc": "Maximum value for this channel.",
      "max": 2200.0,
      "min": 1500.0,
      "name": "RC15_MAX",
      "shortDesc": "RC channel 15 maximum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1000.0,
      "group": "Radio Calibration",
      "longDesc": "Minimum value for this channel.",
      "max": 1500.0,
      "min": 800.0,
      "name": "RC15_MIN",
      "shortDesc": "RC channel 15 minimum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "Radio Calibration",
      "longDesc": "Set to -1 to reverse channel.",
      "max": 1.0,
      "min": -1.0,
      "name": "RC15_REV",
      "shortDesc": "RC channel 15 reverse",
      "type": "Float",
      "values": [
        {
          "description": "Reverse",
          "value": -1.0
        },
        {
          "description": "Normal",
          "value": 1.0
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1500.0,
      "group": "Radio Calibration",
      "longDesc": "Mid point value",
      "max": 2200.0,
      "min": 800.0,
      "name": "RC15_TRIM",
      "shortDesc": "RC channel 15 trim",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "Radio Calibration",
      "longDesc": "The +- range of this value around the trim value will be considered as zero.",
      "max": 100.0,
      "min": 0.0,
      "name": "RC16_DZ",
      "shortDesc": "RC channel 16 dead zone",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 2000.0,
      "group": "Radio Calibration",
      "longDesc": "Maximum value for this channel.",
      "max": 2200.0,
      "min": 1500.0,
      "name": "RC16_MAX",
      "shortDesc": "RC channel 16 maximum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1000.0,
      "group": "Radio Calibration",
      "longDesc": "Minimum value for this channel.",
      "max": 1500.0,
      "min": 800.0,
      "name": "RC16_MIN",
      "shortDesc": "RC channel 16 minimum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "Radio Calibration",
      "longDesc": "Set to -1 to reverse channel.",
      "max": 1.0,
      "min": -1.0,
      "name": "RC16_REV",
      "shortDesc": "RC channel 16 reverse",
      "type": "Float",
      "values": [
        {
          "description": "Reverse",
          "value": -1.0
        },
        {
          "description": "Normal",
          "value": 1.0
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1500.0,
      "group": "Radio Calibration",
      "longDesc": "Mid point value",
      "max": 2200.0,
      "min": 800.0,
      "name": "RC16_TRIM",
      "shortDesc": "RC channel 16 trim",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "Radio Calibration",
      "longDesc": "The +- range of this value around the trim value will be considered as zero.",
      "max": 100.0,
      "min": 0.0,
      "name": "RC17_DZ",
      "shortDesc": "RC channel 17 dead zone",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 2000.0,
      "group": "Radio Calibration",
      "longDesc": "Maximum value for this channel.",
      "max": 2200.0,
      "min": 1500.0,
      "name": "RC17_MAX",
      "shortDesc": "RC channel 17 maximum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1000.0,
      "group": "Radio Calibration",
      "longDesc": "Minimum value for this channel.",
      "max": 1500.0,
      "min": 800.0,
      "name": "RC17_MIN",
      "shortDesc": "RC channel 17 minimum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "Radio Calibration",
      "longDesc": "Set to -1 to reverse channel.",
      "max": 1.0,
      "min": -1.0,
      "name": "RC17_REV",
      "shortDesc": "RC channel 17 reverse",
      "type": "Float",
      "values": [
        {
          "description": "Reverse",
          "value": -1.0
        },
        {
          "description": "Normal",
          "value": 1.0
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1500.0,
      "group": "Radio Calibration",
      "longDesc": "Mid point value",
      "max": 2200.0,
      "min": 800.0,
      "name": "RC17_TRIM",
      "shortDesc": "RC channel 17 trim",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "Radio Calibration",
      "longDesc": "The +- range of this value around the trim value will be considered as zero.",
      "max": 100.0,
      "min": 0.0,
      "name": "RC18_DZ",
      "shortDesc": "RC channel 18 dead zone",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 2000.0,
      "group": "Radio Calibration",
      "longDesc": "Maximum value for this channel.",
      "max": 2200.0,
      "min": 1500.0,
      "name": "RC18_MAX",
      "shortDesc": "RC channel 18 maximum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1000.0,
      "group": "Radio Calibration",
      "longDesc": "Minimum value for this channel.",
      "max": 1500.0,
      "min": 800.0,
      "name": "RC18_MIN",
      "shortDesc": "RC channel 18 minimum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "Radio Calibration",
      "longDesc": "Set to -1 to reverse channel.",
      "max": 1.0,
      "min": -1.0,
      "name": "RC18_REV",
      "shortDesc": "RC channel 18 reverse",
      "type": "Float",
      "values": [
        {
          "description": "Reverse",
          "value": -1.0
        },
        {
          "description": "Normal",
          "value": 1.0
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1500.0,
      "group": "Radio Calibration",
      "longDesc": "Mid point value",
      "max": 2200.0,
      "min": 800.0,
      "name": "RC18_TRIM",
      "shortDesc": "RC channel 18 trim",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 10.0,
      "group": "Radio Calibration",
      "longDesc": "The +- range of this value around the trim value will be considered as zero.",
      "max": 100.0,
      "min": 0.0,
      "name": "RC1_DZ",
      "shortDesc": "RC channel 1 dead zone",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 2000.0,
      "group": "Radio Calibration",
      "longDesc": "Maximum value for RC channel 1",
      "max": 2200.0,
      "min": 1500.0,
      "name": "RC1_MAX",
      "shortDesc": "RC channel 1 maximum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1000.0,
      "group": "Radio Calibration",
      "longDesc": "Minimum value for RC channel 1",
      "max": 1500.0,
      "min": 800.0,
      "name": "RC1_MIN",
      "shortDesc": "RC channel 1 minimum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "Radio Calibration",
      "longDesc": "Set to -1 to reverse channel.",
      "max": 1.0,
      "min": -1.0,
      "name": "RC1_REV",
      "shortDesc": "RC channel 1 reverse",
      "type": "Float",
      "values": [
        {
          "description": "Reverse",
          "value": -1.0
        },
        {
          "description": "Normal",
          "value": 1.0
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1500.0,
      "group": "Radio Calibration",
      "longDesc": "Mid point value",
      "max": 2200.0,
      "min": 800.0,
      "name": "RC1_TRIM",
      "shortDesc": "RC channel 1 trim",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 10.0,
      "group": "Radio Calibration",
      "longDesc": "The +- range of this value around the trim value will be considered as zero.",
      "max": 100.0,
      "min": 0.0,
      "name": "RC2_DZ",
      "shortDesc": "RC channel 2 dead zone",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 2000.0,
      "group": "Radio Calibration",
      "longDesc": "Maximum value for this channel.",
      "max": 2200.0,
      "min": 1500.0,
      "name": "RC2_MAX",
      "shortDesc": "RC channel 2 maximum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1000.0,
      "group": "Radio Calibration",
      "longDesc": "Minimum value for this channel.",
      "max": 1500.0,
      "min": 800.0,
      "name": "RC2_MIN",
      "shortDesc": "RC channel 2 minimum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "Radio Calibration",
      "longDesc": "Set to -1 to reverse channel.",
      "max": 1.0,
      "min": -1.0,
      "name": "RC2_REV",
      "shortDesc": "RC channel 2 reverse",
      "type": "Float",
      "values": [
        {
          "description": "Reverse",
          "value": -1.0
        },
        {
          "description": "Normal",
          "value": 1.0
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1500.0,
      "group": "Radio Calibration",
      "longDesc": "Mid point value",
      "max": 2200.0,
      "min": 800.0,
      "name": "RC2_TRIM",
      "shortDesc": "RC channel 2 trim",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 10.0,
      "group": "Radio Calibration",
      "longDesc": "The +- range of this value around the trim value will be considered as zero.",
      "max": 100.0,
      "min": 0.0,
      "name": "RC3_DZ",
      "shortDesc": "RC channel 3 dead zone",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 2000.0,
      "group": "Radio Calibration",
      "longDesc": "Maximum value for this channel.",
      "max": 2200.0,
      "min": 1500.0,
      "name": "RC3_MAX",
      "shortDesc": "RC channel 3 maximum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1000.0,
      "group": "Radio Calibration",
      "longDesc": "Minimum value for this channel.",
      "max": 1500.0,
      "min": 800.0,
      "name": "RC3_MIN",
      "shortDesc": "RC channel 3 minimum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "Radio Calibration",
      "longDesc": "Set to -1 to reverse channel.",
      "max": 1.0,
      "min": -1.0,
      "name": "RC3_REV",
      "shortDesc": "RC channel 3 reverse",
      "type": "Float",
      "values": [
        {
          "description": "Reverse",
          "value": -1.0
        },
        {
          "description": "Normal",
          "value": 1.0
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1500.0,
      "group": "Radio Calibration",
      "longDesc": "Mid point value",
      "max": 2200.0,
      "min": 800.0,
      "name": "RC3_TRIM",
      "shortDesc": "RC channel 3 trim",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 10.0,
      "group": "Radio Calibration",
      "longDesc": "The +- range of this value around the trim value will be considered as zero.",
      "max": 100.0,
      "min": 0.0,
      "name": "RC4_DZ",
      "shortDesc": "RC channel 4 dead zone",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 2000.0,
      "group": "Radio Calibration",
      "longDesc": "Maximum value for this channel.",
      "max": 2200.0,
      "min": 1500.0,
      "name": "RC4_MAX",
      "shortDesc": "RC channel 4 maximum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1000.0,
      "group": "Radio Calibration",
      "longDesc": "Minimum value for this channel.",
      "max": 1500.0,
      "min": 800.0,
      "name": "RC4_MIN",
      "shortDesc": "RC channel 4 minimum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "Radio Calibration",
      "longDesc": "Set to -1 to reverse channel.",
      "max": 1.0,
      "min": -1.0,
      "name": "RC4_REV",
      "shortDesc": "RC channel 4 reverse",
      "type": "Float",
      "values": [
        {
          "description": "Reverse",
          "value": -1.0
        },
        {
          "description": "Normal",
          "value": 1.0
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1500.0,
      "group": "Radio Calibration",
      "longDesc": "Mid point value",
      "max": 2200.0,
      "min": 800.0,
      "name": "RC4_TRIM",
      "shortDesc": "RC channel 4 trim",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 10.0,
      "group": "Radio Calibration",
      "longDesc": "The +- range of this value around the trim value will be considered as zero.",
      "max": 100.0,
      "min": 0.0,
      "name": "RC5_DZ",
      "shortDesc": "RC channel 5 dead zone",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 2000.0,
      "group": "Radio Calibration",
      "longDesc": "Maximum value for this channel.",
      "max": 2200.0,
      "min": 1500.0,
      "name": "RC5_MAX",
      "shortDesc": "RC channel 5 maximum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1000.0,
      "group": "Radio Calibration",
      "longDesc": "Minimum value for this channel.",
      "max": 1500.0,
      "min": 800.0,
      "name": "RC5_MIN",
      "shortDesc": "RC channel 5 minimum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "Radio Calibration",
      "longDesc": "Set to -1 to reverse channel.",
      "max": 1.0,
      "min": -1.0,
      "name": "RC5_REV",
      "shortDesc": "RC channel 5 reverse",
      "type": "Float",
      "values": [
        {
          "description": "Reverse",
          "value": -1.0
        },
        {
          "description": "Normal",
          "value": 1.0
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1500.0,
      "group": "Radio Calibration",
      "longDesc": "Mid point value",
      "max": 2200.0,
      "min": 800.0,
      "name": "RC5_TRIM",
      "shortDesc": "RC channel 5 trim",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 10.0,
      "group": "Radio Calibration",
      "longDesc": "The +- range of this value around the trim value will be considered as zero.",
      "max": 100.0,
      "min": 0.0,
      "name": "RC6_DZ",
      "shortDesc": "RC channel 6 dead zone",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 2000.0,
      "group": "Radio Calibration",
      "longDesc": "Maximum value for this channel.",
      "max": 2200.0,
      "min": 1500.0,
      "name": "RC6_MAX",
      "shortDesc": "RC channel 6 maximum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1000.0,
      "group": "Radio Calibration",
      "longDesc": "Minimum value for this channel.",
      "max": 1500.0,
      "min": 800.0,
      "name": "RC6_MIN",
      "shortDesc": "RC channel 6 minimum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "Radio Calibration",
      "longDesc": "Set to -1 to reverse channel.",
      "max": 1.0,
      "min": -1.0,
      "name": "RC6_REV",
      "shortDesc": "RC channel 6 reverse",
      "type": "Float",
      "values": [
        {
          "description": "Reverse",
          "value": -1.0
        },
        {
          "description": "Normal",
          "value": 1.0
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1500.0,
      "group": "Radio Calibration",
      "longDesc": "Mid point value",
      "max": 2200.0,
      "min": 800.0,
      "name": "RC6_TRIM",
      "shortDesc": "RC channel 6 trim",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 10.0,
      "group": "Radio Calibration",
      "longDesc": "The +- range of this value around the trim value will be considered as zero.",
      "max": 100.0,
      "min": 0.0,
      "name": "RC7_DZ",
      "shortDesc": "RC channel 7 dead zone",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 2000.0,
      "group": "Radio Calibration",
      "longDesc": "Maximum value for this channel.",
      "max": 2200.0,
      "min": 1500.0,
      "name": "RC7_MAX",
      "shortDesc": "RC channel 7 maximum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1000.0,
      "group": "Radio Calibration",
      "longDesc": "Minimum value for this channel.",
      "max": 1500.0,
      "min": 800.0,
      "name": "RC7_MIN",
      "shortDesc": "RC channel 7 minimum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "Radio Calibration",
      "longDesc": "Set to -1 to reverse channel.",
      "max": 1.0,
      "min": -1.0,
      "name": "RC7_REV",
      "shortDesc": "RC channel 7 reverse",
      "type": "Float",
      "values": [
        {
          "description": "Reverse",
          "value": -1.0
        },
        {
          "description": "Normal",
          "value": 1.0
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1500.0,
      "group": "Radio Calibration",
      "longDesc": "Mid point value",
      "max": 2200.0,
      "min": 800.0,
      "name": "RC7_TRIM",
      "shortDesc": "RC channel 7 trim",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 10.0,
      "group": "Radio Calibration",
      "longDesc": "The +- range of this value around the trim value will be considered as zero.",
      "max": 100.0,
      "min": 0.0,
      "name": "RC8_DZ",
      "shortDesc": "RC channel 8 dead zone",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 2000.0,
      "group": "Radio Calibration",
      "longDesc": "Maximum value for this channel.",
      "max": 2200.0,
      "min": 1500.0,
      "name": "RC8_MAX",
      "shortDesc": "RC channel 8 maximum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1000.0,
      "group": "Radio Calibration",
      "longDesc": "Minimum value for this channel.",
      "max": 1500.0,
      "min": 800.0,
      "name": "RC8_MIN",
      "shortDesc": "RC channel 8 minimum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "Radio Calibration",
      "longDesc": "Set to -1 to reverse channel.",
      "max": 1.0,
      "min": -1.0,
      "name": "RC8_REV",
      "shortDesc": "RC channel 8 reverse",
      "type": "Float",
      "values": [
        {
          "description": "Reverse",
          "value": -1.0
        },
        {
          "description": "Normal",
          "value": 1.0
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1500.0,
      "group": "Radio Calibration",
      "longDesc": "Mid point value",
      "max": 2200.0,
      "min": 800.0,
      "name": "RC8_TRIM",
      "shortDesc": "RC channel 8 trim",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "Radio Calibration",
      "longDesc": "The +- range of this value around the trim value will be considered as zero.",
      "max": 100.0,
      "min": 0.0,
      "name": "RC9_DZ",
      "shortDesc": "RC channel 9 dead zone",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 2000.0,
      "group": "Radio Calibration",
      "longDesc": "Maximum value for this channel.",
      "max": 2200.0,
      "min": 1500.0,
      "name": "RC9_MAX",
      "shortDesc": "RC channel 9 maximum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1000.0,
      "group": "Radio Calibration",
      "longDesc": "Minimum value for this channel.",
      "max": 1500.0,
      "min": 800.0,
      "name": "RC9_MIN",
      "shortDesc": "RC channel 9 minimum",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "Radio Calibration",
      "longDesc": "Set to -1 to reverse channel.",
      "max": 1.0,
      "min": -1.0,
      "name": "RC9_REV",
      "shortDesc": "RC channel 9 reverse",
      "type": "Float",
      "values": [
        {
          "description": "Reverse",
          "value": -1.0
        },
        {
          "description": "Normal",
          "value": 1.0
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1500.0,
      "group": "Radio Calibration",
      "longDesc": "Mid point value",
      "max": 2200.0,
      "min": 800.0,
      "name": "RC9_TRIM",
      "shortDesc": "RC channel 9 trim",
      "type": "Float",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Calibration",
      "longDesc": "This parameter is used by Ground Station software to save the number of channels which were used during RC calibration. It is only meant for ground station use.",
      "max": 18,
      "min": 0,
      "name": "RC_CHAN_CNT",
      "shortDesc": "RC channel count",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Calibration",
      "longDesc": "Use RC_MAP_FAILSAFE to specify which channel is used to indicate RC loss via this threshold. By default this is the throttle channel. Set to a PWM value slightly above the PWM value for the channel (e.g. throttle) in a failsafe event, but below the minimum PWM value for the channel during normal operation. Note: The default value of 0 disables the feature (it is below the expected range).",
      "max": 2200,
      "min": 0,
      "name": "RC_FAILS_THR",
      "shortDesc": "Failsafe channel PWM threshold",
      "type": "Int32",
      "units": "us"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Calibration",
      "longDesc": "Default function: Camera pitch",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_AUX1",
      "shortDesc": "AUX1 Passthrough RC channel",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Calibration",
      "longDesc": "Default function: Camera roll",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_AUX2",
      "shortDesc": "AUX2 Passthrough RC channel",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Calibration",
      "longDesc": "Default function: Camera azimuth / yaw",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_AUX3",
      "shortDesc": "AUX3 Passthrough RC channel",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Calibration",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_AUX4",
      "shortDesc": "AUX4 Passthrough RC channel",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Calibration",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_AUX5",
      "shortDesc": "AUX5 Passthrough RC channel",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Calibration",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_AUX6",
      "shortDesc": "AUX6 Passthrough RC channel",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Calibration",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_ENG_MOT",
      "shortDesc": "RC channel to engage the main motor (for helicopters)",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Calibration",
      "longDesc": "Configures which RC channel is used by the receiver to indicate the signal was lost (on receivers that use output a fixed signal value to report lost signal). If set to 0, the channel mapped to throttle is used. Use RC_FAILS_THR to set the threshold indicating lost signal. By default it's below the expected range and hence disabled.",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_FAILSAFE",
      "shortDesc": "Failsafe channel mapping",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Calibration",
      "longDesc": "Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. Set to 0 to deactivate *",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_PARAM1",
      "shortDesc": "PARAM1 tuning channel",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Calibration",
      "longDesc": "Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. Set to 0 to deactivate *",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_PARAM2",
      "shortDesc": "PARAM2 tuning channel",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Calibration",
      "longDesc": "Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. Set to 0 to deactivate *",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_PARAM3",
      "shortDesc": "PARAM3 tuning channel",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Calibration",
      "longDesc": "The channel index (starting from 1 for channel 1) indicates which channel should be used for reading pitch inputs from. A value of zero indicates the switch is not assigned.",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_PITCH",
      "shortDesc": "Pitch control channel mapping",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Calibration",
      "longDesc": "The channel index (starting from 1 for channel 1) indicates which channel should be used for reading roll inputs from. A value of zero indicates the switch is not assigned.",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_ROLL",
      "shortDesc": "Roll control channel mapping",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Calibration",
      "longDesc": "The channel index (starting from 1 for channel 1) indicates which channel should be used for reading throttle inputs from. A value of zero indicates the switch is not assigned.",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_THROTTLE",
      "shortDesc": "Throttle control channel mapping",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Calibration",
      "longDesc": "The channel index (starting from 1 for channel 1) indicates which channel should be used for reading yaw inputs from. A value of zero indicates the switch is not assigned.",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_YAW",
      "shortDesc": "Yaw control channel mapping",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Calibration",
      "longDesc": "0: do not read RSSI from input channel 1-18: read RSSI from specified input channel Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.",
      "max": 18,
      "min": 0,
      "name": "RC_RSSI_PWM_CHAN",
      "shortDesc": "PWM input channel that provides RSSI",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 2000,
      "group": "Radio Calibration",
      "longDesc": "Only used if RC_RSSI_PWM_CHAN > 0",
      "max": 2000,
      "min": 0,
      "name": "RC_RSSI_PWM_MAX",
      "shortDesc": "Max input value for RSSI reading",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 1000,
      "group": "Radio Calibration",
      "longDesc": "Only used if RC_RSSI_PWM_CHAN > 0",
      "max": 2000,
      "min": 0,
      "name": "RC_RSSI_PWM_MIN",
      "shortDesc": "Min input value for RSSI reading",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Radio Calibration",
      "increment": 0.01,
      "longDesc": "The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS.",
      "max": 0.5,
      "min": -0.5,
      "name": "TRIM_PITCH",
      "shortDesc": "Pitch trim",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Radio Calibration",
      "increment": 0.01,
      "longDesc": "The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS.",
      "max": 0.5,
      "min": -0.5,
      "name": "TRIM_ROLL",
      "shortDesc": "Roll trim",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Radio Calibration",
      "increment": 0.01,
      "longDesc": "The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS.",
      "max": 0.5,
      "min": -0.5,
      "name": "TRIM_YAW",
      "shortDesc": "Yaw trim",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0.75,
      "group": "Radio Switches",
      "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th",
      "max": 1.0,
      "min": -1.0,
      "name": "RC_ARMSWITCH_TH",
      "shortDesc": "Threshold for the arm switch",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0.75,
      "group": "Radio Switches",
      "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th",
      "max": 1.0,
      "min": -1.0,
      "name": "RC_ENG_MOT_TH",
      "shortDesc": "Threshold for selecting main motor engage",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0.75,
      "group": "Radio Switches",
      "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th",
      "max": 1.0,
      "min": -1.0,
      "name": "RC_GEAR_TH",
      "shortDesc": "Threshold for the landing gear switch",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0.75,
      "group": "Radio Switches",
      "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th",
      "max": 1.0,
      "min": -1.0,
      "name": "RC_KILLSWITCH_TH",
      "shortDesc": "Threshold for the kill switch",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0.75,
      "group": "Radio Switches",
      "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th",
      "max": 1.0,
      "min": -1.0,
      "name": "RC_LOITER_TH",
      "shortDesc": "Threshold for selecting loiter mode",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Switches",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_ACRO_SW",
      "shortDesc": "Acro switch channel (deprecated)",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Switches",
      "longDesc": "Use it to arm/disarm via switch instead of default throttle stick. If this is assigned, arming and disarming via stick is disabled.",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_ARM_SW",
      "shortDesc": "Arm switch channel",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Switches",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_FLAPS",
      "shortDesc": "Flaps channel",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Switches",
      "longDesc": "If this parameter is non-zero, flight modes are only selected by this channel and are assigned to six slots.",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_FLTMODE",
      "shortDesc": "Single channel flight mode selection",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "bitmask": [
        {
          "description": "Mask Channel 1 as a mode button",
          "index": 0
        },
        {
          "description": "Mask Channel 2 as a mode button",
          "index": 1
        },
        {
          "description": "Mask Channel 3 as a mode button",
          "index": 2
        },
        {
          "description": "Mask Channel 4 as a mode button",
          "index": 3
        },
        {
          "description": "Mask Channel 5 as a mode button",
          "index": 4
        },
        {
          "description": "Mask Channel 6 as a mode button",
          "index": 5
        },
        {
          "description": "Mask Channel 7 as a mode button",
          "index": 6
        },
        {
          "description": "Mask Channel 8 as a mode button",
          "index": 7
        },
        {
          "description": "Mask Channel 9 as a mode button",
          "index": 8
        },
        {
          "description": "Mask Channel 10 as a mode button",
          "index": 9
        },
        {
          "description": "Mask Channel 11 as a mode button",
          "index": 10
        },
        {
          "description": "Mask Channel 12 as a mode button",
          "index": 11
        },
        {
          "description": "Mask Channel 13 as a mode button",
          "index": 12
        },
        {
          "description": "Mask Channel 14 as a mode button",
          "index": 13
        },
        {
          "description": "Mask Channel 15 as a mode button",
          "index": 14
        },
        {
          "description": "Mask Channel 16 as a mode button",
          "index": 15
        },
        {
          "description": "Mask Channel 17 as a mode button",
          "index": 16
        },
        {
          "description": "Mask Channel 18 as a mode button",
          "index": 17
        }
      ],
      "category": "Standard",
      "default": 0,
      "group": "Radio Switches",
      "longDesc": "This bitmask allows to specify multiple channels for changing flight modes using momentary buttons. Each channel is assigned to a mode slot ((lowest channel = slot 1). The resulting modes for each slot X is defined by the COM_FLTMODEX parameters. The functionality can be used only if RC_MAP_FLTMODE is disabled. The maximum number of available slots and hence bits set in the mask is 6.",
      "max": 258048,
      "min": 0,
      "name": "RC_MAP_FLTM_BTN",
      "shortDesc": "Button flight mode selection",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Switches",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_GEAR_SW",
      "shortDesc": "Landing gear switch channel",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Switches",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_KILL_SW",
      "shortDesc": "Emergency Kill switch channel",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Switches",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_LOITER_SW",
      "shortDesc": "Loiter switch channel",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Switches",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_MAN_SW",
      "shortDesc": "Manual switch channel mapping (deprecated)",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Switches",
      "longDesc": "This is the main flight mode selector. The channel index (starting from 1 for channel 1) indicates which channel should be used for deciding about the main mode. A value of zero indicates the switch is not assigned.",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_MODE_SW",
      "shortDesc": "Mode switch channel mapping (deprecated)",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Switches",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_OFFB_SW",
      "shortDesc": "Offboard switch channel",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Switches",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_POSCTL_SW",
      "shortDesc": "Position Control switch channel (deprecated)",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Switches",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_RATT_SW",
      "shortDesc": "Rattitude switch channel (deprecated)",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Switches",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_RETURN_SW",
      "shortDesc": "Return switch channel",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Switches",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_STAB_SW",
      "shortDesc": "Stabilize switch channel mapping  (deprecated)",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Radio Switches",
      "max": 18,
      "min": 0,
      "name": "RC_MAP_TRANS_SW",
      "shortDesc": "VTOL transition switch channel mapping",
      "type": "Int32",
      "values": [
        {
          "description": "Unassigned",
          "value": 0
        },
        {
          "description": "Channel 1",
          "value": 1
        },
        {
          "description": "Channel 2",
          "value": 2
        },
        {
          "description": "Channel 3",
          "value": 3
        },
        {
          "description": "Channel 4",
          "value": 4
        },
        {
          "description": "Channel 5",
          "value": 5
        },
        {
          "description": "Channel 6",
          "value": 6
        },
        {
          "description": "Channel 7",
          "value": 7
        },
        {
          "description": "Channel 8",
          "value": 8
        },
        {
          "description": "Channel 9",
          "value": 9
        },
        {
          "description": "Channel 10",
          "value": 10
        },
        {
          "description": "Channel 11",
          "value": 11
        },
        {
          "description": "Channel 12",
          "value": 12
        },
        {
          "description": "Channel 13",
          "value": 13
        },
        {
          "description": "Channel 14",
          "value": 14
        },
        {
          "description": "Channel 15",
          "value": 15
        },
        {
          "description": "Channel 16",
          "value": 16
        },
        {
          "description": "Channel 17",
          "value": 17
        },
        {
          "description": "Channel 18",
          "value": 18
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0.75,
      "group": "Radio Switches",
      "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th",
      "max": 1.0,
      "min": -1.0,
      "name": "RC_OFFB_TH",
      "shortDesc": "Threshold for selecting offboard mode",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0.75,
      "group": "Radio Switches",
      "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th",
      "max": 1.0,
      "min": -1.0,
      "name": "RC_RETURN_TH",
      "shortDesc": "Threshold for selecting return to launch mode",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0.75,
      "group": "Radio Switches",
      "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th",
      "max": 1.0,
      "min": -1.0,
      "name": "RC_TRANS_TH",
      "shortDesc": "Threshold for the VTOL transition switch",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 45,
      "group": "Return Mode",
      "longDesc": "Defines the half-angle of a cone centered around the destination position that affects the altitude at which the vehicle returns.",
      "max": 90,
      "min": 0,
      "name": "RTL_CONE_ANG",
      "shortDesc": "Half-angle of the return mode altitude cone",
      "type": "Int32",
      "units": "deg",
      "values": [
        {
          "description": "No cone, always climb to RTL_RETURN_ALT above destination.",
          "value": 0
        },
        {
          "description": "25 degrees half cone angle.",
          "value": 25
        },
        {
          "description": "45 degrees half cone angle.",
          "value": 45
        },
        {
          "description": "65 degrees half cone angle.",
          "value": 65
        },
        {
          "description": "80 degrees half cone angle.",
          "value": 80
        },
        {
          "description": "Only climb to at least RTL_DESCEND_ALT above destination.",
          "value": 90
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 30.0,
      "group": "Return Mode",
      "increment": 0.5,
      "longDesc": "Descend to this altitude (above destination position) after return, and wait for time defined in RTL_LAND_DELAY. Land (i.e. slowly descend) from this altitude if autolanding allowed. VTOLs do transition to hover in this altitdue above the landing point.",
      "min": 0.0,
      "name": "RTL_DESCEND_ALT",
      "shortDesc": "Return mode loiter altitude",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Return Mode",
      "longDesc": "Defines the heading behavior during RTL",
      "name": "RTL_HDG_MD",
      "shortDesc": "RTL heading mode",
      "type": "Int32",
      "values": [
        {
          "description": "Towards next waypoint.",
          "value": 0
        },
        {
          "description": "Heading matches destination.",
          "value": 1
        },
        {
          "description": "Use current heading.",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.0,
      "group": "Return Mode",
      "increment": 0.5,
      "longDesc": "Delay before landing (after initial descent) in Return mode. If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.",
      "min": -1.0,
      "name": "RTL_LAND_DELAY",
      "shortDesc": "Return mode delay",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 80.0,
      "group": "Return Mode",
      "increment": 0.5,
      "longDesc": "Set the radius for loitering to a safe altitude for VTOL transition.",
      "min": 25.0,
      "name": "RTL_LOITER_RAD",
      "shortDesc": "Loiter radius for rtl descend",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 10.0,
      "group": "Return Mode",
      "increment": 0.5,
      "longDesc": "The return altitude will be calculated based on RTL_CONE_ANG parameter. The yaw setpoint will switch to the one defined by corresponding waypoint.",
      "min": 0.5,
      "name": "RTL_MIN_DIST",
      "shortDesc": "Horizontal radius from return point within which special rules for return mode apply",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Return Mode",
      "longDesc": "Use precision landing when doing an RTL landing phase.",
      "name": "RTL_PLD_MD",
      "shortDesc": "RTL precision land mode",
      "type": "Int32",
      "values": [
        {
          "description": "No precision landing",
          "value": 0
        },
        {
          "description": "Opportunistic precision landing",
          "value": 1
        },
        {
          "description": "Required precision landing",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 60.0,
      "group": "Return Mode",
      "increment": 0.5,
      "longDesc": "Default minimum altitude above destination (e.g. home, safe point, landing pattern) for return flight. The vehicle will climb to this altitude when Return mode is enganged, unless it currently is flying higher already. This is affected by RTL_MIN_DIST and RTL_CONE_ANG.",
      "min": 0.0,
      "name": "RTL_RETURN_ALT",
      "shortDesc": "Return mode return altitude",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Return Mode",
      "longDesc": "Return mode destination and flight path (home location, rally point, mission landing pattern, reverse mission)",
      "name": "RTL_TYPE",
      "shortDesc": "Return type",
      "type": "Int32",
      "values": [
        {
          "description": "Return to closest safe point (home or rally point) via direct path.",
          "value": 0
        },
        {
          "description": "Return to closest safe point other than home (mission landing pattern or rally point), via direct path. If no mission landing or rally points are defined return home via direct path. Always chose closest safe landing point if vehicle is a VTOL in hover mode.",
          "value": 1
        },
        {
          "description": "Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path. Do not consider rally points.",
          "value": 2
        },
        {
          "description": "Return via direct path to closest destination: home, start of mission landing pattern or safe point. If the destination is a mission landing pattern, follow the pattern to land.",
          "value": 3
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 1.1,
      "group": "Return To Land",
      "increment": 0.1,
      "longDesc": "Safety factor that is used to scale the actual RTL time estimate. Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN",
      "max": 2.0,
      "min": 1.0,
      "name": "RTL_TIME_FACTOR",
      "shortDesc": "RTL time estimate safety margin factor",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 100,
      "group": "Return To Land",
      "increment": 1,
      "longDesc": "Margin that is added to the time estimate, after it has already been scaled Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN",
      "max": 3600,
      "min": 0,
      "name": "RTL_TIME_MARGIN",
      "shortDesc": "RTL time estimate safety margin offset",
      "type": "Int32",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.75,
      "group": "Rover Position Control",
      "increment": 0.05,
      "longDesc": "Damping factor for L1 control.",
      "max": 0.9,
      "min": 0.6,
      "name": "GND_L1_DAMPING",
      "shortDesc": "L1 damping",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 1.0,
      "group": "Rover Position Control",
      "increment": 0.1,
      "longDesc": "This is the distance at which the next waypoint is activated. This should be set to about 2-4x of GND_WHEEL_BASE and not smaller than one meter (due to GPS accuracy).",
      "max": 50.0,
      "min": 1.0,
      "name": "GND_L1_DIST",
      "shortDesc": "L1 distance",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "Rover Position Control",
      "increment": 0.5,
      "longDesc": "This is the L1 distance and defines the tracking point ahead of the rover it's following. Use values around 2-5m for a 0.3m wheel base. Tuning instructions: Shorten slowly during tuning until response is sharp without oscillation.",
      "max": 50.0,
      "min": 0.5,
      "name": "GND_L1_PERIOD",
      "shortDesc": "L1 period",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 150.0,
      "group": "Rover Position Control",
      "max": 400.0,
      "min": 0.0,
      "name": "GND_MAN_Y_MAX",
      "shortDesc": "Max manual yaw rate",
      "type": "Float",
      "units": "deg/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.7854,
      "group": "Rover Position Control",
      "increment": 0.01,
      "longDesc": "At a control output of 0, the steering wheels are at 0 radians. At a control output of 1, the steering wheels are at GND_MAX_ANG radians.",
      "max": 3.14159,
      "min": 0.0,
      "name": "GND_MAX_ANG",
      "shortDesc": "Maximum turn angle for Ackerman steering",
      "type": "Float",
      "units": "rad"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.001,
      "group": "Rover Position Control",
      "increment": 0.005,
      "longDesc": "This is the derivative gain for the speed closed loop controller",
      "max": 50.0,
      "min": 0.0,
      "name": "GND_SPEED_D",
      "shortDesc": "Speed proportional gain",
      "type": "Float",
      "units": "%m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 3.0,
      "group": "Rover Position Control",
      "increment": 0.005,
      "longDesc": "This is the integral gain for the speed closed loop controller",
      "max": 50.0,
      "min": 0.0,
      "name": "GND_SPEED_I",
      "shortDesc": "Speed Integral gain",
      "type": "Float",
      "units": "%m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Rover Position Control",
      "increment": 0.005,
      "longDesc": "This is the maxim value the integral can reach to prevent wind-up.",
      "max": 50.0,
      "min": 0.005,
      "name": "GND_SPEED_IMAX",
      "shortDesc": "Speed integral maximum value",
      "type": "Float",
      "units": "%m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 10.0,
      "group": "Rover Position Control",
      "increment": 0.5,
      "max": 40.0,
      "min": 0.0,
      "name": "GND_SPEED_MAX",
      "shortDesc": "Maximum ground speed",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 2.0,
      "group": "Rover Position Control",
      "increment": 0.005,
      "longDesc": "This is the proportional gain for the speed closed loop controller",
      "max": 50.0,
      "min": 0.005,
      "name": "GND_SPEED_P",
      "shortDesc": "Speed proportional gain",
      "type": "Float",
      "units": "%m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Rover Position Control",
      "increment": 0.005,
      "longDesc": "This is a gain to map the speed control output to the throttle linearly.",
      "max": 50.0,
      "min": 0.005,
      "name": "GND_SPEED_THR_SC",
      "shortDesc": "Speed to throttle scaler",
      "type": "Float",
      "units": "%m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 3.0,
      "group": "Rover Position Control",
      "increment": 0.5,
      "max": 40.0,
      "min": 0.0,
      "name": "GND_SPEED_TRIM",
      "shortDesc": "Trim ground speed",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Rover Position Control",
      "longDesc": "This allows the user to choose between closed loop gps speed or open loop cruise throttle speed",
      "max": 1,
      "min": 0,
      "name": "GND_SP_CTRL_MODE",
      "shortDesc": "Control mode for speed",
      "type": "Int32",
      "values": [
        {
          "description": "open loop control",
          "value": 0
        },
        {
          "description": "close the loop with gps speed",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.1,
      "group": "Rover Position Control",
      "increment": 0.01,
      "longDesc": "This is the throttle setting required to achieve the desired cruise speed. 10% is ok for a traxxas stampede vxl with ESC set to training mode",
      "max": 1.0,
      "min": 0.0,
      "name": "GND_THR_CRUISE",
      "shortDesc": "Cruise throttle",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.3,
      "group": "Rover Position Control",
      "increment": 0.01,
      "longDesc": "This is the maximum throttle % that can be used by the controller. For a Traxxas stampede vxl with the ESC set to training, 30 % is enough",
      "max": 1.0,
      "min": 0.0,
      "name": "GND_THR_MAX",
      "shortDesc": "Throttle limit max",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "Rover Position Control",
      "increment": 0.01,
      "longDesc": "This is the minimum throttle % that can be used by the controller. Set to 0 for rover",
      "max": 1.0,
      "min": 0.0,
      "name": "GND_THR_MIN",
      "shortDesc": "Throttle limit min",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.31,
      "group": "Rover Position Control",
      "increment": 0.01,
      "longDesc": "A value of 0.31 is typical for 1/10 RC cars.",
      "min": 0.0,
      "name": "GND_WHEEL_BASE",
      "shortDesc": "Distance from front axle to rear axle",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Runway Takeoff",
      "longDesc": "0: airframe heading when takeoff is initiated 1: position control along runway direction (bearing defined from vehicle position on takeoff initiation to MAV_CMD_TAKEOFF position defined by operator)",
      "max": 1,
      "min": 0,
      "name": "RWTO_HDG",
      "shortDesc": "Specifies which heading should be held during the runway takeoff ground roll",
      "type": "Int32",
      "values": [
        {
          "description": "Airframe",
          "value": 0
        },
        {
          "description": "Runway",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 1.0,
      "group": "Runway Takeoff",
      "increment": 0.01,
      "max": 1.0,
      "min": 0.0,
      "name": "RWTO_MAX_THR",
      "shortDesc": "Max throttle during runway takeoff",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 5.0,
      "group": "Runway Takeoff",
      "increment": 0.1,
      "max": 100.0,
      "min": 1.0,
      "name": "RWTO_NPFG_PERIOD",
      "shortDesc": "NPFG period while steering on runway",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Runway Takeoff",
      "longDesc": "This is useful when map, GNSS, or yaw errors on ground are misaligned with what the operator intends for takeoff course. Particularly useful for skinny runways or if the wheel servo is a bit off trim.",
      "name": "RWTO_NUDGE",
      "shortDesc": "Enable use of yaw stick for nudging the wheel during runway ground roll",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.0,
      "group": "Runway Takeoff",
      "increment": 0.5,
      "longDesc": "A taildragger with steerable wheel might need to pitch up a little to keep its wheel on the ground before airspeed to takeoff is reached.",
      "max": 20.0,
      "min": -10.0,
      "name": "RWTO_PSP",
      "shortDesc": "Pitch setpoint during taxi / before takeoff rotation airspeed is reached",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 2.0,
      "group": "Runway Takeoff",
      "increment": 0.1,
      "max": 15.0,
      "min": 1.0,
      "name": "RWTO_RAMP_TIME",
      "shortDesc": "Throttle ramp up time for runway takeoff",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": -1.0,
      "group": "Runway Takeoff",
      "increment": 0.1,
      "longDesc": "The calibrated airspeed threshold during the takeoff ground roll when the plane should start rotating (pitching up). Must be less than the takeoff airspeed, will otherwise be capped at the takeoff airpeed (see FW_TKO_AIRSPD). If set <= 0.0, defaults to 0.9 * takeoff airspeed (see FW_TKO_AIRSPD)",
      "min": -1.0,
      "name": "RWTO_ROT_AIRSPD",
      "shortDesc": "Takeoff rotation airspeed",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 1.0,
      "group": "Runway Takeoff",
      "increment": 0.1,
      "longDesc": "This is the time desired to linearly ramp in takeoff pitch constraints during the takeoff rotation",
      "min": 0.1,
      "name": "RWTO_ROT_TIME",
      "shortDesc": "Takeoff rotation time",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Runway Takeoff",
      "name": "RWTO_TKOFF",
      "shortDesc": "Runway takeoff with landing gear",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 2,
      "group": "SD Logging",
      "longDesc": "Selects the algorithm used for logfile encryption",
      "name": "SDLOG_ALGORITHM",
      "shortDesc": "Logfile Encryption algorithm",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "XChaCha20",
          "value": 2
        },
        {
          "description": "AES",
          "value": 3
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "SD Logging",
      "longDesc": "When enabled, logging will not start from boot if battery power is not detected (e.g. powered via USB on a test bench). This prevents extraneous flight logs from being created during bench testing. Note that this only applies to log-from-boot modes. This has no effect on arm-based modes.",
      "name": "SDLOG_BOOT_BAT",
      "shortDesc": "Battery-only Logging",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "SD Logging",
      "longDesc": "If there are more log directories than this value, the system will delete the oldest directories during startup. In addition, the system will delete old logs if there is not enough free space left. The minimum amount is 300 MB. If this is set to 0, old directories will only be removed if the free space falls below the minimum. Note: this does not apply to mission log files.",
      "max": 1000,
      "min": 0,
      "name": "SDLOG_DIRS_MAX",
      "rebootRequired": true,
      "shortDesc": "Maximum number of log directories to keep",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "SD Logging",
      "longDesc": "If the logfile is encrypted using a symmetric key algorithm, the used encryption key is generated at logging start and stored on the sdcard RSA2048 encrypted using this key.",
      "max": 255,
      "min": 0,
      "name": "SDLOG_EXCH_KEY",
      "shortDesc": "Logfile Encryption key exchange key",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 2,
      "group": "SD Logging",
      "longDesc": "Selects the key in keystore, used for encrypting the log. When using a symmetric encryption algorithm, the key is generated at logging start and kept stored in this index. For symmetric algorithms, the key is volatile and valid only for the duration of logging. The key is stored in encrypted format on the sdcard alongside the logfile, using an RSA2048 key defined by the SDLOG_EXCHANGE_KEY",
      "max": 255,
      "min": 0,
      "name": "SDLOG_KEY",
      "shortDesc": "Logfile Encryption key index",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "SD Logging",
      "longDesc": "If enabled, a small additional \"mission\" log file will be written to the SD card. The log contains just those messages that are useful for tasks like generating flight statistics and geotagging. The different modes can be used to further reduce the logged data (and thus the log file size). For example, choose geotagging mode to only log data required for geotagging. Note that the normal/full log is still created, and contains all the data in the mission log (and more).",
      "name": "SDLOG_MISSION",
      "rebootRequired": true,
      "shortDesc": "Mission Log",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "All mission messages",
          "value": 1
        },
        {
          "description": "Geotagging messages",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "SD Logging",
      "longDesc": "Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming.",
      "name": "SDLOG_MODE",
      "rebootRequired": true,
      "shortDesc": "Logging Mode",
      "type": "Int32",
      "values": [
        {
          "description": "disabled",
          "value": -1
        },
        {
          "description": "when armed until disarm (default)",
          "value": 0
        },
        {
          "description": "from boot until disarm",
          "value": 1
        },
        {
          "description": "from boot until shutdown",
          "value": 2
        },
        {
          "description": "depending on AUX1 RC channel",
          "value": 3
        },
        {
          "description": "from 1st armed until shutdown",
          "value": 4
        }
      ]
    },
    {
      "bitmask": [
        {
          "description": "Default set (general log analysis)",
          "index": 0
        },
        {
          "description": "Estimator replay (EKF2)",
          "index": 1
        },
        {
          "description": "Thermal calibration",
          "index": 2
        },
        {
          "description": "System identification",
          "index": 3
        },
        {
          "description": "High rate",
          "index": 4
        },
        {
          "description": "Debug",
          "index": 5
        },
        {
          "description": "Sensor comparison",
          "index": 6
        },
        {
          "description": "Computer Vision and Avoidance",
          "index": 7
        },
        {
          "description": "Raw FIFO high-rate IMU (Gyro)",
          "index": 8
        },
        {
          "description": "Raw FIFO high-rate IMU (Accel)",
          "index": 9
        },
        {
          "description": "Mavlink tunnel message logging",
          "index": 10
        }
      ],
      "category": "Standard",
      "default": 1,
      "group": "SD Logging",
      "longDesc": "This integer bitmask controls the set and rates of logged topics. The default allows for general log analysis while keeping the log file size reasonably small. Enabling multiple sets leads to higher bandwidth requirements and larger log files. Set bits true to enable: 0 : Default set (used for general log analysis) 1 : Full rate estimator (EKF2) replay topics 2 : Topics for thermal calibration (high rate raw IMU and Baro sensor data) 3 : Topics for system identification (high rate actuator control and IMU data) 4 : Full rates for analysis of fast maneuvers (RC, attitude, rates and actuators) 5 : Debugging topics (debug_*.msg topics, for custom code) 6 : Topics for sensor comparison (low rate raw IMU, Baro and magnetometer data) 7 : Topics for computer vision and collision avoidance 8 : Raw FIFO high-rate IMU (Gyro) 9 : Raw FIFO high-rate IMU (Accel) 10: Logging of mavlink tunnel message (useful for payload communication debugging)",
      "max": 2047,
      "min": 0,
      "name": "SDLOG_PROFILE",
      "rebootRequired": true,
      "shortDesc": "Logging topic profile (integer bitmask)",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "SD Logging",
      "longDesc": "the difference in hours and minutes from Coordinated Universal Time (UTC) for a your place and date. for example, In case of South Korea(UTC+09:00), UTC offset is 540 min (9*60) refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets",
      "max": 1000,
      "min": -1000,
      "name": "SDLOG_UTC_OFFSET",
      "shortDesc": "UTC offset (unit: min)",
      "type": "Int32",
      "units": "min"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "SD Logging",
      "longDesc": "If set to 1, add an ID to the log, which uniquely identifies the vehicle",
      "name": "SDLOG_UUID",
      "shortDesc": "Log UUID",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 60.0,
      "group": "SITL",
      "increment": 1.0,
      "max": 86400.0,
      "min": 1.0,
      "name": "SIM_BAT_DRAIN",
      "shortDesc": "Simulator Battery drain interval",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 50.0,
      "group": "SITL",
      "increment": 0.1,
      "longDesc": "Can be used to alter the battery level during SITL- or HITL-simulation on the fly. Particularly useful for testing different low-battery behaviour.",
      "max": 100.0,
      "min": 0.0,
      "name": "SIM_BAT_MIN_PCT",
      "shortDesc": "Simulator Battery minimal percentage",
      "type": "Float",
      "units": "%"
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0,
      "group": "Sensor Calibration",
      "longDesc": "Device ID of the accelerometer this calibration applies to.",
      "name": "CAL_ACC0_ID",
      "shortDesc": "Accelerometer 0 calibration device ID",
      "type": "Int32"
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": -1,
      "group": "Sensor Calibration",
      "name": "CAL_ACC0_PRIO",
      "shortDesc": "Accelerometer 0 priority",
      "type": "Int32",
      "values": [
        {
          "description": "Uninitialized",
          "value": -1
        },
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Min",
          "value": 1
        },
        {
          "description": "Low",
          "value": 25
        },
        {
          "description": "Medium (Default)",
          "value": 50
        },
        {
          "description": "High",
          "value": 75
        },
        {
          "description": "Max",
          "value": 100
        }
      ]
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.",
      "max": 40,
      "min": -1,
      "name": "CAL_ACC0_ROT",
      "shortDesc": "Accelerometer 0 rotation relative to airframe",
      "type": "Int32",
      "values": [
        {
          "description": "Internal",
          "value": -1
        },
        {
          "description": "No rotation",
          "value": 0
        },
        {
          "description": "Yaw 45\u00b0",
          "value": 1
        },
        {
          "description": "Yaw 90\u00b0",
          "value": 2
        },
        {
          "description": "Yaw 135\u00b0",
          "value": 3
        },
        {
          "description": "Yaw 180\u00b0",
          "value": 4
        },
        {
          "description": "Yaw 225\u00b0",
          "value": 5
        },
        {
          "description": "Yaw 270\u00b0",
          "value": 6
        },
        {
          "description": "Yaw 315\u00b0",
          "value": 7
        },
        {
          "description": "Roll 180\u00b0",
          "value": 8
        },
        {
          "description": "Roll 180\u00b0, Yaw 45\u00b0",
          "value": 9
        },
        {
          "description": "Roll 180\u00b0, Yaw 90\u00b0",
          "value": 10
        },
        {
          "description": "Roll 180\u00b0, Yaw 135\u00b0",
          "value": 11
        },
        {
          "description": "Pitch 180\u00b0",
          "value": 12
        },
        {
          "description": "Roll 180\u00b0, Yaw 225\u00b0",
          "value": 13
        },
        {
          "description": "Roll 180\u00b0, Yaw 270\u00b0",
          "value": 14
        },
        {
          "description": "Roll 180\u00b0, Yaw 315\u00b0",
          "value": 15
        },
        {
          "description": "Roll 90\u00b0",
          "value": 16
        },
        {
          "description": "Roll 90\u00b0, Yaw 45\u00b0",
          "value": 17
        },
        {
          "description": "Roll 90\u00b0, Yaw 90\u00b0",
          "value": 18
        },
        {
          "description": "Roll 90\u00b0, Yaw 135\u00b0",
          "value": 19
        },
        {
          "description": "Roll 270\u00b0",
          "value": 20
        },
        {
          "description": "Roll 270\u00b0, Yaw 45\u00b0",
          "value": 21
        },
        {
          "description": "Roll 270\u00b0, Yaw 90\u00b0",
          "value": 22
        },
        {
          "description": "Roll 270\u00b0, Yaw 135\u00b0",
          "value": 23
        },
        {
          "description": "Pitch 90\u00b0",
          "value": 24
        },
        {
          "description": "Pitch 270\u00b0",
          "value": 25
        },
        {
          "description": "Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 26
        },
        {
          "description": "Pitch 180\u00b0, Yaw 270\u00b0",
          "value": 27
        },
        {
          "description": "Roll 90\u00b0, Pitch 90\u00b0",
          "value": 28
        },
        {
          "description": "Roll 180\u00b0, Pitch 90\u00b0",
          "value": 29
        },
        {
          "description": "Roll 270\u00b0, Pitch 90\u00b0",
          "value": 30
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0",
          "value": 31
        },
        {
          "description": "Roll 270\u00b0, Pitch 180\u00b0",
          "value": 32
        },
        {
          "description": "Roll 90\u00b0, Pitch 270\u00b0",
          "value": 33
        },
        {
          "description": "Roll 180\u00b0, Pitch 270\u00b0",
          "value": 34
        },
        {
          "description": "Roll 270\u00b0, Pitch 270\u00b0",
          "value": 35
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 36
        },
        {
          "description": "Roll 90\u00b0, Yaw 270\u00b0",
          "value": 37
        },
        {
          "description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0",
          "value": 38
        },
        {
          "description": "Pitch 315\u00b0",
          "value": 39
        },
        {
          "description": "Roll 90\u00b0, Pitch 315\u00b0",
          "value": 40
        }
      ]
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_ACC0_XOFF",
      "shortDesc": "Accelerometer 0 X-axis offset",
      "type": "Float",
      "units": "m/s^2",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_ACC0_XSCALE",
      "shortDesc": "Accelerometer 0 X-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_ACC0_YOFF",
      "shortDesc": "Accelerometer 0 Y-axis offset",
      "type": "Float",
      "units": "m/s^2",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_ACC0_YSCALE",
      "shortDesc": "Accelerometer 0 Y-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_ACC0_ZOFF",
      "shortDesc": "Accelerometer 0 Z-axis offset",
      "type": "Float",
      "units": "m/s^2",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_ACC0_ZSCALE",
      "shortDesc": "Accelerometer 0 Z-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0,
      "group": "Sensor Calibration",
      "longDesc": "Device ID of the accelerometer this calibration applies to.",
      "name": "CAL_ACC1_ID",
      "shortDesc": "Accelerometer 1 calibration device ID",
      "type": "Int32"
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": -1,
      "group": "Sensor Calibration",
      "name": "CAL_ACC1_PRIO",
      "shortDesc": "Accelerometer 1 priority",
      "type": "Int32",
      "values": [
        {
          "description": "Uninitialized",
          "value": -1
        },
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Min",
          "value": 1
        },
        {
          "description": "Low",
          "value": 25
        },
        {
          "description": "Medium (Default)",
          "value": 50
        },
        {
          "description": "High",
          "value": 75
        },
        {
          "description": "Max",
          "value": 100
        }
      ]
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.",
      "max": 40,
      "min": -1,
      "name": "CAL_ACC1_ROT",
      "shortDesc": "Accelerometer 1 rotation relative to airframe",
      "type": "Int32",
      "values": [
        {
          "description": "Internal",
          "value": -1
        },
        {
          "description": "No rotation",
          "value": 0
        },
        {
          "description": "Yaw 45\u00b0",
          "value": 1
        },
        {
          "description": "Yaw 90\u00b0",
          "value": 2
        },
        {
          "description": "Yaw 135\u00b0",
          "value": 3
        },
        {
          "description": "Yaw 180\u00b0",
          "value": 4
        },
        {
          "description": "Yaw 225\u00b0",
          "value": 5
        },
        {
          "description": "Yaw 270\u00b0",
          "value": 6
        },
        {
          "description": "Yaw 315\u00b0",
          "value": 7
        },
        {
          "description": "Roll 180\u00b0",
          "value": 8
        },
        {
          "description": "Roll 180\u00b0, Yaw 45\u00b0",
          "value": 9
        },
        {
          "description": "Roll 180\u00b0, Yaw 90\u00b0",
          "value": 10
        },
        {
          "description": "Roll 180\u00b0, Yaw 135\u00b0",
          "value": 11
        },
        {
          "description": "Pitch 180\u00b0",
          "value": 12
        },
        {
          "description": "Roll 180\u00b0, Yaw 225\u00b0",
          "value": 13
        },
        {
          "description": "Roll 180\u00b0, Yaw 270\u00b0",
          "value": 14
        },
        {
          "description": "Roll 180\u00b0, Yaw 315\u00b0",
          "value": 15
        },
        {
          "description": "Roll 90\u00b0",
          "value": 16
        },
        {
          "description": "Roll 90\u00b0, Yaw 45\u00b0",
          "value": 17
        },
        {
          "description": "Roll 90\u00b0, Yaw 90\u00b0",
          "value": 18
        },
        {
          "description": "Roll 90\u00b0, Yaw 135\u00b0",
          "value": 19
        },
        {
          "description": "Roll 270\u00b0",
          "value": 20
        },
        {
          "description": "Roll 270\u00b0, Yaw 45\u00b0",
          "value": 21
        },
        {
          "description": "Roll 270\u00b0, Yaw 90\u00b0",
          "value": 22
        },
        {
          "description": "Roll 270\u00b0, Yaw 135\u00b0",
          "value": 23
        },
        {
          "description": "Pitch 90\u00b0",
          "value": 24
        },
        {
          "description": "Pitch 270\u00b0",
          "value": 25
        },
        {
          "description": "Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 26
        },
        {
          "description": "Pitch 180\u00b0, Yaw 270\u00b0",
          "value": 27
        },
        {
          "description": "Roll 90\u00b0, Pitch 90\u00b0",
          "value": 28
        },
        {
          "description": "Roll 180\u00b0, Pitch 90\u00b0",
          "value": 29
        },
        {
          "description": "Roll 270\u00b0, Pitch 90\u00b0",
          "value": 30
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0",
          "value": 31
        },
        {
          "description": "Roll 270\u00b0, Pitch 180\u00b0",
          "value": 32
        },
        {
          "description": "Roll 90\u00b0, Pitch 270\u00b0",
          "value": 33
        },
        {
          "description": "Roll 180\u00b0, Pitch 270\u00b0",
          "value": 34
        },
        {
          "description": "Roll 270\u00b0, Pitch 270\u00b0",
          "value": 35
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 36
        },
        {
          "description": "Roll 90\u00b0, Yaw 270\u00b0",
          "value": 37
        },
        {
          "description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0",
          "value": 38
        },
        {
          "description": "Pitch 315\u00b0",
          "value": 39
        },
        {
          "description": "Roll 90\u00b0, Pitch 315\u00b0",
          "value": 40
        }
      ]
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_ACC1_XOFF",
      "shortDesc": "Accelerometer 1 X-axis offset",
      "type": "Float",
      "units": "m/s^2",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_ACC1_XSCALE",
      "shortDesc": "Accelerometer 1 X-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_ACC1_YOFF",
      "shortDesc": "Accelerometer 1 Y-axis offset",
      "type": "Float",
      "units": "m/s^2",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_ACC1_YSCALE",
      "shortDesc": "Accelerometer 1 Y-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_ACC1_ZOFF",
      "shortDesc": "Accelerometer 1 Z-axis offset",
      "type": "Float",
      "units": "m/s^2",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_ACC1_ZSCALE",
      "shortDesc": "Accelerometer 1 Z-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0,
      "group": "Sensor Calibration",
      "longDesc": "Device ID of the accelerometer this calibration applies to.",
      "name": "CAL_ACC2_ID",
      "shortDesc": "Accelerometer 2 calibration device ID",
      "type": "Int32"
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": -1,
      "group": "Sensor Calibration",
      "name": "CAL_ACC2_PRIO",
      "shortDesc": "Accelerometer 2 priority",
      "type": "Int32",
      "values": [
        {
          "description": "Uninitialized",
          "value": -1
        },
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Min",
          "value": 1
        },
        {
          "description": "Low",
          "value": 25
        },
        {
          "description": "Medium (Default)",
          "value": 50
        },
        {
          "description": "High",
          "value": 75
        },
        {
          "description": "Max",
          "value": 100
        }
      ]
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.",
      "max": 40,
      "min": -1,
      "name": "CAL_ACC2_ROT",
      "shortDesc": "Accelerometer 2 rotation relative to airframe",
      "type": "Int32",
      "values": [
        {
          "description": "Internal",
          "value": -1
        },
        {
          "description": "No rotation",
          "value": 0
        },
        {
          "description": "Yaw 45\u00b0",
          "value": 1
        },
        {
          "description": "Yaw 90\u00b0",
          "value": 2
        },
        {
          "description": "Yaw 135\u00b0",
          "value": 3
        },
        {
          "description": "Yaw 180\u00b0",
          "value": 4
        },
        {
          "description": "Yaw 225\u00b0",
          "value": 5
        },
        {
          "description": "Yaw 270\u00b0",
          "value": 6
        },
        {
          "description": "Yaw 315\u00b0",
          "value": 7
        },
        {
          "description": "Roll 180\u00b0",
          "value": 8
        },
        {
          "description": "Roll 180\u00b0, Yaw 45\u00b0",
          "value": 9
        },
        {
          "description": "Roll 180\u00b0, Yaw 90\u00b0",
          "value": 10
        },
        {
          "description": "Roll 180\u00b0, Yaw 135\u00b0",
          "value": 11
        },
        {
          "description": "Pitch 180\u00b0",
          "value": 12
        },
        {
          "description": "Roll 180\u00b0, Yaw 225\u00b0",
          "value": 13
        },
        {
          "description": "Roll 180\u00b0, Yaw 270\u00b0",
          "value": 14
        },
        {
          "description": "Roll 180\u00b0, Yaw 315\u00b0",
          "value": 15
        },
        {
          "description": "Roll 90\u00b0",
          "value": 16
        },
        {
          "description": "Roll 90\u00b0, Yaw 45\u00b0",
          "value": 17
        },
        {
          "description": "Roll 90\u00b0, Yaw 90\u00b0",
          "value": 18
        },
        {
          "description": "Roll 90\u00b0, Yaw 135\u00b0",
          "value": 19
        },
        {
          "description": "Roll 270\u00b0",
          "value": 20
        },
        {
          "description": "Roll 270\u00b0, Yaw 45\u00b0",
          "value": 21
        },
        {
          "description": "Roll 270\u00b0, Yaw 90\u00b0",
          "value": 22
        },
        {
          "description": "Roll 270\u00b0, Yaw 135\u00b0",
          "value": 23
        },
        {
          "description": "Pitch 90\u00b0",
          "value": 24
        },
        {
          "description": "Pitch 270\u00b0",
          "value": 25
        },
        {
          "description": "Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 26
        },
        {
          "description": "Pitch 180\u00b0, Yaw 270\u00b0",
          "value": 27
        },
        {
          "description": "Roll 90\u00b0, Pitch 90\u00b0",
          "value": 28
        },
        {
          "description": "Roll 180\u00b0, Pitch 90\u00b0",
          "value": 29
        },
        {
          "description": "Roll 270\u00b0, Pitch 90\u00b0",
          "value": 30
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0",
          "value": 31
        },
        {
          "description": "Roll 270\u00b0, Pitch 180\u00b0",
          "value": 32
        },
        {
          "description": "Roll 90\u00b0, Pitch 270\u00b0",
          "value": 33
        },
        {
          "description": "Roll 180\u00b0, Pitch 270\u00b0",
          "value": 34
        },
        {
          "description": "Roll 270\u00b0, Pitch 270\u00b0",
          "value": 35
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 36
        },
        {
          "description": "Roll 90\u00b0, Yaw 270\u00b0",
          "value": 37
        },
        {
          "description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0",
          "value": 38
        },
        {
          "description": "Pitch 315\u00b0",
          "value": 39
        },
        {
          "description": "Roll 90\u00b0, Pitch 315\u00b0",
          "value": 40
        }
      ]
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_ACC2_XOFF",
      "shortDesc": "Accelerometer 2 X-axis offset",
      "type": "Float",
      "units": "m/s^2",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_ACC2_XSCALE",
      "shortDesc": "Accelerometer 2 X-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_ACC2_YOFF",
      "shortDesc": "Accelerometer 2 Y-axis offset",
      "type": "Float",
      "units": "m/s^2",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_ACC2_YSCALE",
      "shortDesc": "Accelerometer 2 Y-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_ACC2_ZOFF",
      "shortDesc": "Accelerometer 2 Z-axis offset",
      "type": "Float",
      "units": "m/s^2",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_ACC2_ZSCALE",
      "shortDesc": "Accelerometer 2 Z-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0,
      "group": "Sensor Calibration",
      "longDesc": "Device ID of the accelerometer this calibration applies to.",
      "name": "CAL_ACC3_ID",
      "shortDesc": "Accelerometer 3 calibration device ID",
      "type": "Int32"
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": -1,
      "group": "Sensor Calibration",
      "name": "CAL_ACC3_PRIO",
      "shortDesc": "Accelerometer 3 priority",
      "type": "Int32",
      "values": [
        {
          "description": "Uninitialized",
          "value": -1
        },
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Min",
          "value": 1
        },
        {
          "description": "Low",
          "value": 25
        },
        {
          "description": "Medium (Default)",
          "value": 50
        },
        {
          "description": "High",
          "value": 75
        },
        {
          "description": "Max",
          "value": 100
        }
      ]
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.",
      "max": 40,
      "min": -1,
      "name": "CAL_ACC3_ROT",
      "shortDesc": "Accelerometer 3 rotation relative to airframe",
      "type": "Int32",
      "values": [
        {
          "description": "Internal",
          "value": -1
        },
        {
          "description": "No rotation",
          "value": 0
        },
        {
          "description": "Yaw 45\u00b0",
          "value": 1
        },
        {
          "description": "Yaw 90\u00b0",
          "value": 2
        },
        {
          "description": "Yaw 135\u00b0",
          "value": 3
        },
        {
          "description": "Yaw 180\u00b0",
          "value": 4
        },
        {
          "description": "Yaw 225\u00b0",
          "value": 5
        },
        {
          "description": "Yaw 270\u00b0",
          "value": 6
        },
        {
          "description": "Yaw 315\u00b0",
          "value": 7
        },
        {
          "description": "Roll 180\u00b0",
          "value": 8
        },
        {
          "description": "Roll 180\u00b0, Yaw 45\u00b0",
          "value": 9
        },
        {
          "description": "Roll 180\u00b0, Yaw 90\u00b0",
          "value": 10
        },
        {
          "description": "Roll 180\u00b0, Yaw 135\u00b0",
          "value": 11
        },
        {
          "description": "Pitch 180\u00b0",
          "value": 12
        },
        {
          "description": "Roll 180\u00b0, Yaw 225\u00b0",
          "value": 13
        },
        {
          "description": "Roll 180\u00b0, Yaw 270\u00b0",
          "value": 14
        },
        {
          "description": "Roll 180\u00b0, Yaw 315\u00b0",
          "value": 15
        },
        {
          "description": "Roll 90\u00b0",
          "value": 16
        },
        {
          "description": "Roll 90\u00b0, Yaw 45\u00b0",
          "value": 17
        },
        {
          "description": "Roll 90\u00b0, Yaw 90\u00b0",
          "value": 18
        },
        {
          "description": "Roll 90\u00b0, Yaw 135\u00b0",
          "value": 19
        },
        {
          "description": "Roll 270\u00b0",
          "value": 20
        },
        {
          "description": "Roll 270\u00b0, Yaw 45\u00b0",
          "value": 21
        },
        {
          "description": "Roll 270\u00b0, Yaw 90\u00b0",
          "value": 22
        },
        {
          "description": "Roll 270\u00b0, Yaw 135\u00b0",
          "value": 23
        },
        {
          "description": "Pitch 90\u00b0",
          "value": 24
        },
        {
          "description": "Pitch 270\u00b0",
          "value": 25
        },
        {
          "description": "Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 26
        },
        {
          "description": "Pitch 180\u00b0, Yaw 270\u00b0",
          "value": 27
        },
        {
          "description": "Roll 90\u00b0, Pitch 90\u00b0",
          "value": 28
        },
        {
          "description": "Roll 180\u00b0, Pitch 90\u00b0",
          "value": 29
        },
        {
          "description": "Roll 270\u00b0, Pitch 90\u00b0",
          "value": 30
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0",
          "value": 31
        },
        {
          "description": "Roll 270\u00b0, Pitch 180\u00b0",
          "value": 32
        },
        {
          "description": "Roll 90\u00b0, Pitch 270\u00b0",
          "value": 33
        },
        {
          "description": "Roll 180\u00b0, Pitch 270\u00b0",
          "value": 34
        },
        {
          "description": "Roll 270\u00b0, Pitch 270\u00b0",
          "value": 35
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 36
        },
        {
          "description": "Roll 90\u00b0, Yaw 270\u00b0",
          "value": 37
        },
        {
          "description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0",
          "value": 38
        },
        {
          "description": "Pitch 315\u00b0",
          "value": 39
        },
        {
          "description": "Roll 90\u00b0, Pitch 315\u00b0",
          "value": 40
        }
      ]
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_ACC3_XOFF",
      "shortDesc": "Accelerometer 3 X-axis offset",
      "type": "Float",
      "units": "m/s^2",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_ACC3_XSCALE",
      "shortDesc": "Accelerometer 3 X-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_ACC3_YOFF",
      "shortDesc": "Accelerometer 3 Y-axis offset",
      "type": "Float",
      "units": "m/s^2",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_ACC3_YSCALE",
      "shortDesc": "Accelerometer 3 Y-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_ACC3_ZOFF",
      "shortDesc": "Accelerometer 3 Z-axis offset",
      "type": "Float",
      "units": "m/s^2",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_ACC3_ZSCALE",
      "shortDesc": "Accelerometer 3 Z-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "default": 0,
      "group": "Sensor Calibration",
      "longDesc": "Device ID of the barometer this calibration applies to.",
      "name": "CAL_BARO0_ID",
      "shortDesc": "Barometer 0 calibration device ID",
      "type": "Int32"
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_BARO0_OFF",
      "shortDesc": "Barometer 0 offset",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "name": "CAL_BARO0_PRIO",
      "shortDesc": "Barometer 0 priority",
      "type": "Int32",
      "values": [
        {
          "description": "Uninitialized",
          "value": -1
        },
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Min",
          "value": 1
        },
        {
          "description": "Low",
          "value": 25
        },
        {
          "description": "Medium (Default)",
          "value": 50
        },
        {
          "description": "High",
          "value": 75
        },
        {
          "description": "Max",
          "value": 100
        }
      ]
    },
    {
      "category": "System",
      "default": 0,
      "group": "Sensor Calibration",
      "longDesc": "Device ID of the barometer this calibration applies to.",
      "name": "CAL_BARO1_ID",
      "shortDesc": "Barometer 1 calibration device ID",
      "type": "Int32"
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_BARO1_OFF",
      "shortDesc": "Barometer 1 offset",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "name": "CAL_BARO1_PRIO",
      "shortDesc": "Barometer 1 priority",
      "type": "Int32",
      "values": [
        {
          "description": "Uninitialized",
          "value": -1
        },
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Min",
          "value": 1
        },
        {
          "description": "Low",
          "value": 25
        },
        {
          "description": "Medium (Default)",
          "value": 50
        },
        {
          "description": "High",
          "value": 75
        },
        {
          "description": "Max",
          "value": 100
        }
      ]
    },
    {
      "category": "System",
      "default": 0,
      "group": "Sensor Calibration",
      "longDesc": "Device ID of the barometer this calibration applies to.",
      "name": "CAL_BARO2_ID",
      "shortDesc": "Barometer 2 calibration device ID",
      "type": "Int32"
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_BARO2_OFF",
      "shortDesc": "Barometer 2 offset",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "name": "CAL_BARO2_PRIO",
      "shortDesc": "Barometer 2 priority",
      "type": "Int32",
      "values": [
        {
          "description": "Uninitialized",
          "value": -1
        },
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Min",
          "value": 1
        },
        {
          "description": "Low",
          "value": 25
        },
        {
          "description": "Medium (Default)",
          "value": 50
        },
        {
          "description": "High",
          "value": 75
        },
        {
          "description": "Max",
          "value": 100
        }
      ]
    },
    {
      "category": "System",
      "default": 0,
      "group": "Sensor Calibration",
      "longDesc": "Device ID of the barometer this calibration applies to.",
      "name": "CAL_BARO3_ID",
      "shortDesc": "Barometer 3 calibration device ID",
      "type": "Int32"
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_BARO3_OFF",
      "shortDesc": "Barometer 3 offset",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "name": "CAL_BARO3_PRIO",
      "shortDesc": "Barometer 3 priority",
      "type": "Int32",
      "values": [
        {
          "description": "Uninitialized",
          "value": -1
        },
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Min",
          "value": 1
        },
        {
          "description": "Low",
          "value": 25
        },
        {
          "description": "Medium (Default)",
          "value": 50
        },
        {
          "description": "High",
          "value": 75
        },
        {
          "description": "Max",
          "value": 100
        }
      ]
    },
    {
      "category": "System",
      "default": 0,
      "group": "Sensor Calibration",
      "longDesc": "Device ID of the gyroscope this calibration applies to.",
      "name": "CAL_GYRO0_ID",
      "shortDesc": "Gyroscope 0 calibration device ID",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "name": "CAL_GYRO0_PRIO",
      "shortDesc": "Gyroscope 0 priority",
      "type": "Int32",
      "values": [
        {
          "description": "Uninitialized",
          "value": -1
        },
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Min",
          "value": 1
        },
        {
          "description": "Low",
          "value": 25
        },
        {
          "description": "Medium (Default)",
          "value": 50
        },
        {
          "description": "High",
          "value": 75
        },
        {
          "description": "Max",
          "value": 100
        }
      ]
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.",
      "max": 40,
      "min": -1,
      "name": "CAL_GYRO0_ROT",
      "shortDesc": "Gyroscope 0 rotation relative to airframe",
      "type": "Int32",
      "values": [
        {
          "description": "Internal",
          "value": -1
        },
        {
          "description": "No rotation",
          "value": 0
        },
        {
          "description": "Yaw 45\u00b0",
          "value": 1
        },
        {
          "description": "Yaw 90\u00b0",
          "value": 2
        },
        {
          "description": "Yaw 135\u00b0",
          "value": 3
        },
        {
          "description": "Yaw 180\u00b0",
          "value": 4
        },
        {
          "description": "Yaw 225\u00b0",
          "value": 5
        },
        {
          "description": "Yaw 270\u00b0",
          "value": 6
        },
        {
          "description": "Yaw 315\u00b0",
          "value": 7
        },
        {
          "description": "Roll 180\u00b0",
          "value": 8
        },
        {
          "description": "Roll 180\u00b0, Yaw 45\u00b0",
          "value": 9
        },
        {
          "description": "Roll 180\u00b0, Yaw 90\u00b0",
          "value": 10
        },
        {
          "description": "Roll 180\u00b0, Yaw 135\u00b0",
          "value": 11
        },
        {
          "description": "Pitch 180\u00b0",
          "value": 12
        },
        {
          "description": "Roll 180\u00b0, Yaw 225\u00b0",
          "value": 13
        },
        {
          "description": "Roll 180\u00b0, Yaw 270\u00b0",
          "value": 14
        },
        {
          "description": "Roll 180\u00b0, Yaw 315\u00b0",
          "value": 15
        },
        {
          "description": "Roll 90\u00b0",
          "value": 16
        },
        {
          "description": "Roll 90\u00b0, Yaw 45\u00b0",
          "value": 17
        },
        {
          "description": "Roll 90\u00b0, Yaw 90\u00b0",
          "value": 18
        },
        {
          "description": "Roll 90\u00b0, Yaw 135\u00b0",
          "value": 19
        },
        {
          "description": "Roll 270\u00b0",
          "value": 20
        },
        {
          "description": "Roll 270\u00b0, Yaw 45\u00b0",
          "value": 21
        },
        {
          "description": "Roll 270\u00b0, Yaw 90\u00b0",
          "value": 22
        },
        {
          "description": "Roll 270\u00b0, Yaw 135\u00b0",
          "value": 23
        },
        {
          "description": "Pitch 90\u00b0",
          "value": 24
        },
        {
          "description": "Pitch 270\u00b0",
          "value": 25
        },
        {
          "description": "Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 26
        },
        {
          "description": "Pitch 180\u00b0, Yaw 270\u00b0",
          "value": 27
        },
        {
          "description": "Roll 90\u00b0, Pitch 90\u00b0",
          "value": 28
        },
        {
          "description": "Roll 180\u00b0, Pitch 90\u00b0",
          "value": 29
        },
        {
          "description": "Roll 270\u00b0, Pitch 90\u00b0",
          "value": 30
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0",
          "value": 31
        },
        {
          "description": "Roll 270\u00b0, Pitch 180\u00b0",
          "value": 32
        },
        {
          "description": "Roll 90\u00b0, Pitch 270\u00b0",
          "value": 33
        },
        {
          "description": "Roll 180\u00b0, Pitch 270\u00b0",
          "value": 34
        },
        {
          "description": "Roll 270\u00b0, Pitch 270\u00b0",
          "value": 35
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 36
        },
        {
          "description": "Roll 90\u00b0, Yaw 270\u00b0",
          "value": 37
        },
        {
          "description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0",
          "value": 38
        },
        {
          "description": "Pitch 315\u00b0",
          "value": 39
        },
        {
          "description": "Roll 90\u00b0, Pitch 315\u00b0",
          "value": 40
        }
      ]
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_GYRO0_XOFF",
      "shortDesc": "Gyroscope 0 X-axis offset",
      "type": "Float",
      "units": "rad/s",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_GYRO0_YOFF",
      "shortDesc": "Gyroscope 0 Y-axis offset",
      "type": "Float",
      "units": "rad/s",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_GYRO0_ZOFF",
      "shortDesc": "Gyroscope 0 Z-axis offset",
      "type": "Float",
      "units": "rad/s",
      "volatile": true
    },
    {
      "category": "System",
      "default": 0,
      "group": "Sensor Calibration",
      "longDesc": "Device ID of the gyroscope this calibration applies to.",
      "name": "CAL_GYRO1_ID",
      "shortDesc": "Gyroscope 1 calibration device ID",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "name": "CAL_GYRO1_PRIO",
      "shortDesc": "Gyroscope 1 priority",
      "type": "Int32",
      "values": [
        {
          "description": "Uninitialized",
          "value": -1
        },
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Min",
          "value": 1
        },
        {
          "description": "Low",
          "value": 25
        },
        {
          "description": "Medium (Default)",
          "value": 50
        },
        {
          "description": "High",
          "value": 75
        },
        {
          "description": "Max",
          "value": 100
        }
      ]
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.",
      "max": 40,
      "min": -1,
      "name": "CAL_GYRO1_ROT",
      "shortDesc": "Gyroscope 1 rotation relative to airframe",
      "type": "Int32",
      "values": [
        {
          "description": "Internal",
          "value": -1
        },
        {
          "description": "No rotation",
          "value": 0
        },
        {
          "description": "Yaw 45\u00b0",
          "value": 1
        },
        {
          "description": "Yaw 90\u00b0",
          "value": 2
        },
        {
          "description": "Yaw 135\u00b0",
          "value": 3
        },
        {
          "description": "Yaw 180\u00b0",
          "value": 4
        },
        {
          "description": "Yaw 225\u00b0",
          "value": 5
        },
        {
          "description": "Yaw 270\u00b0",
          "value": 6
        },
        {
          "description": "Yaw 315\u00b0",
          "value": 7
        },
        {
          "description": "Roll 180\u00b0",
          "value": 8
        },
        {
          "description": "Roll 180\u00b0, Yaw 45\u00b0",
          "value": 9
        },
        {
          "description": "Roll 180\u00b0, Yaw 90\u00b0",
          "value": 10
        },
        {
          "description": "Roll 180\u00b0, Yaw 135\u00b0",
          "value": 11
        },
        {
          "description": "Pitch 180\u00b0",
          "value": 12
        },
        {
          "description": "Roll 180\u00b0, Yaw 225\u00b0",
          "value": 13
        },
        {
          "description": "Roll 180\u00b0, Yaw 270\u00b0",
          "value": 14
        },
        {
          "description": "Roll 180\u00b0, Yaw 315\u00b0",
          "value": 15
        },
        {
          "description": "Roll 90\u00b0",
          "value": 16
        },
        {
          "description": "Roll 90\u00b0, Yaw 45\u00b0",
          "value": 17
        },
        {
          "description": "Roll 90\u00b0, Yaw 90\u00b0",
          "value": 18
        },
        {
          "description": "Roll 90\u00b0, Yaw 135\u00b0",
          "value": 19
        },
        {
          "description": "Roll 270\u00b0",
          "value": 20
        },
        {
          "description": "Roll 270\u00b0, Yaw 45\u00b0",
          "value": 21
        },
        {
          "description": "Roll 270\u00b0, Yaw 90\u00b0",
          "value": 22
        },
        {
          "description": "Roll 270\u00b0, Yaw 135\u00b0",
          "value": 23
        },
        {
          "description": "Pitch 90\u00b0",
          "value": 24
        },
        {
          "description": "Pitch 270\u00b0",
          "value": 25
        },
        {
          "description": "Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 26
        },
        {
          "description": "Pitch 180\u00b0, Yaw 270\u00b0",
          "value": 27
        },
        {
          "description": "Roll 90\u00b0, Pitch 90\u00b0",
          "value": 28
        },
        {
          "description": "Roll 180\u00b0, Pitch 90\u00b0",
          "value": 29
        },
        {
          "description": "Roll 270\u00b0, Pitch 90\u00b0",
          "value": 30
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0",
          "value": 31
        },
        {
          "description": "Roll 270\u00b0, Pitch 180\u00b0",
          "value": 32
        },
        {
          "description": "Roll 90\u00b0, Pitch 270\u00b0",
          "value": 33
        },
        {
          "description": "Roll 180\u00b0, Pitch 270\u00b0",
          "value": 34
        },
        {
          "description": "Roll 270\u00b0, Pitch 270\u00b0",
          "value": 35
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 36
        },
        {
          "description": "Roll 90\u00b0, Yaw 270\u00b0",
          "value": 37
        },
        {
          "description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0",
          "value": 38
        },
        {
          "description": "Pitch 315\u00b0",
          "value": 39
        },
        {
          "description": "Roll 90\u00b0, Pitch 315\u00b0",
          "value": 40
        }
      ]
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_GYRO1_XOFF",
      "shortDesc": "Gyroscope 1 X-axis offset",
      "type": "Float",
      "units": "rad/s",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_GYRO1_YOFF",
      "shortDesc": "Gyroscope 1 Y-axis offset",
      "type": "Float",
      "units": "rad/s",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_GYRO1_ZOFF",
      "shortDesc": "Gyroscope 1 Z-axis offset",
      "type": "Float",
      "units": "rad/s",
      "volatile": true
    },
    {
      "category": "System",
      "default": 0,
      "group": "Sensor Calibration",
      "longDesc": "Device ID of the gyroscope this calibration applies to.",
      "name": "CAL_GYRO2_ID",
      "shortDesc": "Gyroscope 2 calibration device ID",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "name": "CAL_GYRO2_PRIO",
      "shortDesc": "Gyroscope 2 priority",
      "type": "Int32",
      "values": [
        {
          "description": "Uninitialized",
          "value": -1
        },
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Min",
          "value": 1
        },
        {
          "description": "Low",
          "value": 25
        },
        {
          "description": "Medium (Default)",
          "value": 50
        },
        {
          "description": "High",
          "value": 75
        },
        {
          "description": "Max",
          "value": 100
        }
      ]
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.",
      "max": 40,
      "min": -1,
      "name": "CAL_GYRO2_ROT",
      "shortDesc": "Gyroscope 2 rotation relative to airframe",
      "type": "Int32",
      "values": [
        {
          "description": "Internal",
          "value": -1
        },
        {
          "description": "No rotation",
          "value": 0
        },
        {
          "description": "Yaw 45\u00b0",
          "value": 1
        },
        {
          "description": "Yaw 90\u00b0",
          "value": 2
        },
        {
          "description": "Yaw 135\u00b0",
          "value": 3
        },
        {
          "description": "Yaw 180\u00b0",
          "value": 4
        },
        {
          "description": "Yaw 225\u00b0",
          "value": 5
        },
        {
          "description": "Yaw 270\u00b0",
          "value": 6
        },
        {
          "description": "Yaw 315\u00b0",
          "value": 7
        },
        {
          "description": "Roll 180\u00b0",
          "value": 8
        },
        {
          "description": "Roll 180\u00b0, Yaw 45\u00b0",
          "value": 9
        },
        {
          "description": "Roll 180\u00b0, Yaw 90\u00b0",
          "value": 10
        },
        {
          "description": "Roll 180\u00b0, Yaw 135\u00b0",
          "value": 11
        },
        {
          "description": "Pitch 180\u00b0",
          "value": 12
        },
        {
          "description": "Roll 180\u00b0, Yaw 225\u00b0",
          "value": 13
        },
        {
          "description": "Roll 180\u00b0, Yaw 270\u00b0",
          "value": 14
        },
        {
          "description": "Roll 180\u00b0, Yaw 315\u00b0",
          "value": 15
        },
        {
          "description": "Roll 90\u00b0",
          "value": 16
        },
        {
          "description": "Roll 90\u00b0, Yaw 45\u00b0",
          "value": 17
        },
        {
          "description": "Roll 90\u00b0, Yaw 90\u00b0",
          "value": 18
        },
        {
          "description": "Roll 90\u00b0, Yaw 135\u00b0",
          "value": 19
        },
        {
          "description": "Roll 270\u00b0",
          "value": 20
        },
        {
          "description": "Roll 270\u00b0, Yaw 45\u00b0",
          "value": 21
        },
        {
          "description": "Roll 270\u00b0, Yaw 90\u00b0",
          "value": 22
        },
        {
          "description": "Roll 270\u00b0, Yaw 135\u00b0",
          "value": 23
        },
        {
          "description": "Pitch 90\u00b0",
          "value": 24
        },
        {
          "description": "Pitch 270\u00b0",
          "value": 25
        },
        {
          "description": "Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 26
        },
        {
          "description": "Pitch 180\u00b0, Yaw 270\u00b0",
          "value": 27
        },
        {
          "description": "Roll 90\u00b0, Pitch 90\u00b0",
          "value": 28
        },
        {
          "description": "Roll 180\u00b0, Pitch 90\u00b0",
          "value": 29
        },
        {
          "description": "Roll 270\u00b0, Pitch 90\u00b0",
          "value": 30
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0",
          "value": 31
        },
        {
          "description": "Roll 270\u00b0, Pitch 180\u00b0",
          "value": 32
        },
        {
          "description": "Roll 90\u00b0, Pitch 270\u00b0",
          "value": 33
        },
        {
          "description": "Roll 180\u00b0, Pitch 270\u00b0",
          "value": 34
        },
        {
          "description": "Roll 270\u00b0, Pitch 270\u00b0",
          "value": 35
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 36
        },
        {
          "description": "Roll 90\u00b0, Yaw 270\u00b0",
          "value": 37
        },
        {
          "description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0",
          "value": 38
        },
        {
          "description": "Pitch 315\u00b0",
          "value": 39
        },
        {
          "description": "Roll 90\u00b0, Pitch 315\u00b0",
          "value": 40
        }
      ]
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_GYRO2_XOFF",
      "shortDesc": "Gyroscope 2 X-axis offset",
      "type": "Float",
      "units": "rad/s",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_GYRO2_YOFF",
      "shortDesc": "Gyroscope 2 Y-axis offset",
      "type": "Float",
      "units": "rad/s",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_GYRO2_ZOFF",
      "shortDesc": "Gyroscope 2 Z-axis offset",
      "type": "Float",
      "units": "rad/s",
      "volatile": true
    },
    {
      "category": "System",
      "default": 0,
      "group": "Sensor Calibration",
      "longDesc": "Device ID of the gyroscope this calibration applies to.",
      "name": "CAL_GYRO3_ID",
      "shortDesc": "Gyroscope 3 calibration device ID",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "name": "CAL_GYRO3_PRIO",
      "shortDesc": "Gyroscope 3 priority",
      "type": "Int32",
      "values": [
        {
          "description": "Uninitialized",
          "value": -1
        },
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Min",
          "value": 1
        },
        {
          "description": "Low",
          "value": 25
        },
        {
          "description": "Medium (Default)",
          "value": 50
        },
        {
          "description": "High",
          "value": 75
        },
        {
          "description": "Max",
          "value": 100
        }
      ]
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.",
      "max": 40,
      "min": -1,
      "name": "CAL_GYRO3_ROT",
      "shortDesc": "Gyroscope 3 rotation relative to airframe",
      "type": "Int32",
      "values": [
        {
          "description": "Internal",
          "value": -1
        },
        {
          "description": "No rotation",
          "value": 0
        },
        {
          "description": "Yaw 45\u00b0",
          "value": 1
        },
        {
          "description": "Yaw 90\u00b0",
          "value": 2
        },
        {
          "description": "Yaw 135\u00b0",
          "value": 3
        },
        {
          "description": "Yaw 180\u00b0",
          "value": 4
        },
        {
          "description": "Yaw 225\u00b0",
          "value": 5
        },
        {
          "description": "Yaw 270\u00b0",
          "value": 6
        },
        {
          "description": "Yaw 315\u00b0",
          "value": 7
        },
        {
          "description": "Roll 180\u00b0",
          "value": 8
        },
        {
          "description": "Roll 180\u00b0, Yaw 45\u00b0",
          "value": 9
        },
        {
          "description": "Roll 180\u00b0, Yaw 90\u00b0",
          "value": 10
        },
        {
          "description": "Roll 180\u00b0, Yaw 135\u00b0",
          "value": 11
        },
        {
          "description": "Pitch 180\u00b0",
          "value": 12
        },
        {
          "description": "Roll 180\u00b0, Yaw 225\u00b0",
          "value": 13
        },
        {
          "description": "Roll 180\u00b0, Yaw 270\u00b0",
          "value": 14
        },
        {
          "description": "Roll 180\u00b0, Yaw 315\u00b0",
          "value": 15
        },
        {
          "description": "Roll 90\u00b0",
          "value": 16
        },
        {
          "description": "Roll 90\u00b0, Yaw 45\u00b0",
          "value": 17
        },
        {
          "description": "Roll 90\u00b0, Yaw 90\u00b0",
          "value": 18
        },
        {
          "description": "Roll 90\u00b0, Yaw 135\u00b0",
          "value": 19
        },
        {
          "description": "Roll 270\u00b0",
          "value": 20
        },
        {
          "description": "Roll 270\u00b0, Yaw 45\u00b0",
          "value": 21
        },
        {
          "description": "Roll 270\u00b0, Yaw 90\u00b0",
          "value": 22
        },
        {
          "description": "Roll 270\u00b0, Yaw 135\u00b0",
          "value": 23
        },
        {
          "description": "Pitch 90\u00b0",
          "value": 24
        },
        {
          "description": "Pitch 270\u00b0",
          "value": 25
        },
        {
          "description": "Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 26
        },
        {
          "description": "Pitch 180\u00b0, Yaw 270\u00b0",
          "value": 27
        },
        {
          "description": "Roll 90\u00b0, Pitch 90\u00b0",
          "value": 28
        },
        {
          "description": "Roll 180\u00b0, Pitch 90\u00b0",
          "value": 29
        },
        {
          "description": "Roll 270\u00b0, Pitch 90\u00b0",
          "value": 30
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0",
          "value": 31
        },
        {
          "description": "Roll 270\u00b0, Pitch 180\u00b0",
          "value": 32
        },
        {
          "description": "Roll 90\u00b0, Pitch 270\u00b0",
          "value": 33
        },
        {
          "description": "Roll 180\u00b0, Pitch 270\u00b0",
          "value": 34
        },
        {
          "description": "Roll 270\u00b0, Pitch 270\u00b0",
          "value": 35
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 36
        },
        {
          "description": "Roll 90\u00b0, Yaw 270\u00b0",
          "value": 37
        },
        {
          "description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0",
          "value": 38
        },
        {
          "description": "Pitch 315\u00b0",
          "value": 39
        },
        {
          "description": "Roll 90\u00b0, Pitch 315\u00b0",
          "value": 40
        }
      ]
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_GYRO3_XOFF",
      "shortDesc": "Gyroscope 3 X-axis offset",
      "type": "Float",
      "units": "rad/s",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_GYRO3_YOFF",
      "shortDesc": "Gyroscope 3 Y-axis offset",
      "type": "Float",
      "units": "rad/s",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_GYRO3_ZOFF",
      "shortDesc": "Gyroscope 3 Z-axis offset",
      "type": "Float",
      "units": "rad/s",
      "volatile": true
    },
    {
      "category": "System",
      "default": 0,
      "group": "Sensor Calibration",
      "longDesc": "Device ID of the magnetometer this calibration applies to.",
      "name": "CAL_MAG0_ID",
      "shortDesc": "Magnetometer 0 calibration device ID",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "name": "CAL_MAG0_PRIO",
      "shortDesc": "Magnetometer 0 priority",
      "type": "Int32",
      "values": [
        {
          "description": "Uninitialized",
          "value": -1
        },
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Min",
          "value": 1
        },
        {
          "description": "Low",
          "value": 25
        },
        {
          "description": "Medium (Default)",
          "value": 50
        },
        {
          "description": "High",
          "value": 75
        },
        {
          "description": "Max",
          "value": 100
        }
      ]
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.",
      "max": 40,
      "min": -1,
      "name": "CAL_MAG0_ROT",
      "shortDesc": "Magnetometer 0 rotation relative to airframe",
      "type": "Int32",
      "values": [
        {
          "description": "Internal",
          "value": -1
        },
        {
          "description": "No rotation",
          "value": 0
        },
        {
          "description": "Yaw 45\u00b0",
          "value": 1
        },
        {
          "description": "Yaw 90\u00b0",
          "value": 2
        },
        {
          "description": "Yaw 135\u00b0",
          "value": 3
        },
        {
          "description": "Yaw 180\u00b0",
          "value": 4
        },
        {
          "description": "Yaw 225\u00b0",
          "value": 5
        },
        {
          "description": "Yaw 270\u00b0",
          "value": 6
        },
        {
          "description": "Yaw 315\u00b0",
          "value": 7
        },
        {
          "description": "Roll 180\u00b0",
          "value": 8
        },
        {
          "description": "Roll 180\u00b0, Yaw 45\u00b0",
          "value": 9
        },
        {
          "description": "Roll 180\u00b0, Yaw 90\u00b0",
          "value": 10
        },
        {
          "description": "Roll 180\u00b0, Yaw 135\u00b0",
          "value": 11
        },
        {
          "description": "Pitch 180\u00b0",
          "value": 12
        },
        {
          "description": "Roll 180\u00b0, Yaw 225\u00b0",
          "value": 13
        },
        {
          "description": "Roll 180\u00b0, Yaw 270\u00b0",
          "value": 14
        },
        {
          "description": "Roll 180\u00b0, Yaw 315\u00b0",
          "value": 15
        },
        {
          "description": "Roll 90\u00b0",
          "value": 16
        },
        {
          "description": "Roll 90\u00b0, Yaw 45\u00b0",
          "value": 17
        },
        {
          "description": "Roll 90\u00b0, Yaw 90\u00b0",
          "value": 18
        },
        {
          "description": "Roll 90\u00b0, Yaw 135\u00b0",
          "value": 19
        },
        {
          "description": "Roll 270\u00b0",
          "value": 20
        },
        {
          "description": "Roll 270\u00b0, Yaw 45\u00b0",
          "value": 21
        },
        {
          "description": "Roll 270\u00b0, Yaw 90\u00b0",
          "value": 22
        },
        {
          "description": "Roll 270\u00b0, Yaw 135\u00b0",
          "value": 23
        },
        {
          "description": "Pitch 90\u00b0",
          "value": 24
        },
        {
          "description": "Pitch 270\u00b0",
          "value": 25
        },
        {
          "description": "Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 26
        },
        {
          "description": "Pitch 180\u00b0, Yaw 270\u00b0",
          "value": 27
        },
        {
          "description": "Roll 90\u00b0, Pitch 90\u00b0",
          "value": 28
        },
        {
          "description": "Roll 180\u00b0, Pitch 90\u00b0",
          "value": 29
        },
        {
          "description": "Roll 270\u00b0, Pitch 90\u00b0",
          "value": 30
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0",
          "value": 31
        },
        {
          "description": "Roll 270\u00b0, Pitch 180\u00b0",
          "value": 32
        },
        {
          "description": "Roll 90\u00b0, Pitch 270\u00b0",
          "value": 33
        },
        {
          "description": "Roll 180\u00b0, Pitch 270\u00b0",
          "value": 34
        },
        {
          "description": "Roll 270\u00b0, Pitch 270\u00b0",
          "value": 35
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 36
        },
        {
          "description": "Roll 90\u00b0, Yaw 270\u00b0",
          "value": 37
        },
        {
          "description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0",
          "value": 38
        },
        {
          "description": "Pitch 315\u00b0",
          "value": 39
        },
        {
          "description": "Roll 90\u00b0, Pitch 315\u00b0",
          "value": 40
        }
      ]
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "longDesc": "Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]",
      "name": "CAL_MAG0_XCOMP",
      "shortDesc": "Magnetometer 0 X Axis throttle compensation",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG0_XODIAG",
      "shortDesc": "Magnetometer 0 X-axis off diagonal scale factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG0_XOFF",
      "shortDesc": "Magnetometer 0 X-axis offset",
      "type": "Float",
      "units": "gauss",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_MAG0_XSCALE",
      "shortDesc": "Magnetometer 0 X-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "longDesc": "Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]",
      "name": "CAL_MAG0_YCOMP",
      "shortDesc": "Magnetometer 0 Y Axis throttle compensation",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG0_YODIAG",
      "shortDesc": "Magnetometer 0 Y-axis off diagonal scale factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG0_YOFF",
      "shortDesc": "Magnetometer 0 Y-axis offset",
      "type": "Float",
      "units": "gauss",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_MAG0_YSCALE",
      "shortDesc": "Magnetometer 0 Y-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "longDesc": "Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]",
      "name": "CAL_MAG0_ZCOMP",
      "shortDesc": "Magnetometer 0 Z Axis throttle compensation",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG0_ZODIAG",
      "shortDesc": "Magnetometer 0 Z-axis off diagonal scale factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG0_ZOFF",
      "shortDesc": "Magnetometer 0 Z-axis offset",
      "type": "Float",
      "units": "gauss",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_MAG0_ZSCALE",
      "shortDesc": "Magnetometer 0 Z-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "default": 0,
      "group": "Sensor Calibration",
      "longDesc": "Device ID of the magnetometer this calibration applies to.",
      "name": "CAL_MAG1_ID",
      "shortDesc": "Magnetometer 1 calibration device ID",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "name": "CAL_MAG1_PRIO",
      "shortDesc": "Magnetometer 1 priority",
      "type": "Int32",
      "values": [
        {
          "description": "Uninitialized",
          "value": -1
        },
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Min",
          "value": 1
        },
        {
          "description": "Low",
          "value": 25
        },
        {
          "description": "Medium (Default)",
          "value": 50
        },
        {
          "description": "High",
          "value": 75
        },
        {
          "description": "Max",
          "value": 100
        }
      ]
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.",
      "max": 40,
      "min": -1,
      "name": "CAL_MAG1_ROT",
      "shortDesc": "Magnetometer 1 rotation relative to airframe",
      "type": "Int32",
      "values": [
        {
          "description": "Internal",
          "value": -1
        },
        {
          "description": "No rotation",
          "value": 0
        },
        {
          "description": "Yaw 45\u00b0",
          "value": 1
        },
        {
          "description": "Yaw 90\u00b0",
          "value": 2
        },
        {
          "description": "Yaw 135\u00b0",
          "value": 3
        },
        {
          "description": "Yaw 180\u00b0",
          "value": 4
        },
        {
          "description": "Yaw 225\u00b0",
          "value": 5
        },
        {
          "description": "Yaw 270\u00b0",
          "value": 6
        },
        {
          "description": "Yaw 315\u00b0",
          "value": 7
        },
        {
          "description": "Roll 180\u00b0",
          "value": 8
        },
        {
          "description": "Roll 180\u00b0, Yaw 45\u00b0",
          "value": 9
        },
        {
          "description": "Roll 180\u00b0, Yaw 90\u00b0",
          "value": 10
        },
        {
          "description": "Roll 180\u00b0, Yaw 135\u00b0",
          "value": 11
        },
        {
          "description": "Pitch 180\u00b0",
          "value": 12
        },
        {
          "description": "Roll 180\u00b0, Yaw 225\u00b0",
          "value": 13
        },
        {
          "description": "Roll 180\u00b0, Yaw 270\u00b0",
          "value": 14
        },
        {
          "description": "Roll 180\u00b0, Yaw 315\u00b0",
          "value": 15
        },
        {
          "description": "Roll 90\u00b0",
          "value": 16
        },
        {
          "description": "Roll 90\u00b0, Yaw 45\u00b0",
          "value": 17
        },
        {
          "description": "Roll 90\u00b0, Yaw 90\u00b0",
          "value": 18
        },
        {
          "description": "Roll 90\u00b0, Yaw 135\u00b0",
          "value": 19
        },
        {
          "description": "Roll 270\u00b0",
          "value": 20
        },
        {
          "description": "Roll 270\u00b0, Yaw 45\u00b0",
          "value": 21
        },
        {
          "description": "Roll 270\u00b0, Yaw 90\u00b0",
          "value": 22
        },
        {
          "description": "Roll 270\u00b0, Yaw 135\u00b0",
          "value": 23
        },
        {
          "description": "Pitch 90\u00b0",
          "value": 24
        },
        {
          "description": "Pitch 270\u00b0",
          "value": 25
        },
        {
          "description": "Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 26
        },
        {
          "description": "Pitch 180\u00b0, Yaw 270\u00b0",
          "value": 27
        },
        {
          "description": "Roll 90\u00b0, Pitch 90\u00b0",
          "value": 28
        },
        {
          "description": "Roll 180\u00b0, Pitch 90\u00b0",
          "value": 29
        },
        {
          "description": "Roll 270\u00b0, Pitch 90\u00b0",
          "value": 30
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0",
          "value": 31
        },
        {
          "description": "Roll 270\u00b0, Pitch 180\u00b0",
          "value": 32
        },
        {
          "description": "Roll 90\u00b0, Pitch 270\u00b0",
          "value": 33
        },
        {
          "description": "Roll 180\u00b0, Pitch 270\u00b0",
          "value": 34
        },
        {
          "description": "Roll 270\u00b0, Pitch 270\u00b0",
          "value": 35
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 36
        },
        {
          "description": "Roll 90\u00b0, Yaw 270\u00b0",
          "value": 37
        },
        {
          "description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0",
          "value": 38
        },
        {
          "description": "Pitch 315\u00b0",
          "value": 39
        },
        {
          "description": "Roll 90\u00b0, Pitch 315\u00b0",
          "value": 40
        }
      ]
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "longDesc": "Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]",
      "name": "CAL_MAG1_XCOMP",
      "shortDesc": "Magnetometer 1 X Axis throttle compensation",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG1_XODIAG",
      "shortDesc": "Magnetometer 1 X-axis off diagonal scale factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG1_XOFF",
      "shortDesc": "Magnetometer 1 X-axis offset",
      "type": "Float",
      "units": "gauss",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_MAG1_XSCALE",
      "shortDesc": "Magnetometer 1 X-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "longDesc": "Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]",
      "name": "CAL_MAG1_YCOMP",
      "shortDesc": "Magnetometer 1 Y Axis throttle compensation",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG1_YODIAG",
      "shortDesc": "Magnetometer 1 Y-axis off diagonal scale factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG1_YOFF",
      "shortDesc": "Magnetometer 1 Y-axis offset",
      "type": "Float",
      "units": "gauss",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_MAG1_YSCALE",
      "shortDesc": "Magnetometer 1 Y-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "longDesc": "Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]",
      "name": "CAL_MAG1_ZCOMP",
      "shortDesc": "Magnetometer 1 Z Axis throttle compensation",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG1_ZODIAG",
      "shortDesc": "Magnetometer 1 Z-axis off diagonal scale factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG1_ZOFF",
      "shortDesc": "Magnetometer 1 Z-axis offset",
      "type": "Float",
      "units": "gauss",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_MAG1_ZSCALE",
      "shortDesc": "Magnetometer 1 Z-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "default": 0,
      "group": "Sensor Calibration",
      "longDesc": "Device ID of the magnetometer this calibration applies to.",
      "name": "CAL_MAG2_ID",
      "shortDesc": "Magnetometer 2 calibration device ID",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "name": "CAL_MAG2_PRIO",
      "shortDesc": "Magnetometer 2 priority",
      "type": "Int32",
      "values": [
        {
          "description": "Uninitialized",
          "value": -1
        },
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Min",
          "value": 1
        },
        {
          "description": "Low",
          "value": 25
        },
        {
          "description": "Medium (Default)",
          "value": 50
        },
        {
          "description": "High",
          "value": 75
        },
        {
          "description": "Max",
          "value": 100
        }
      ]
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.",
      "max": 40,
      "min": -1,
      "name": "CAL_MAG2_ROT",
      "shortDesc": "Magnetometer 2 rotation relative to airframe",
      "type": "Int32",
      "values": [
        {
          "description": "Internal",
          "value": -1
        },
        {
          "description": "No rotation",
          "value": 0
        },
        {
          "description": "Yaw 45\u00b0",
          "value": 1
        },
        {
          "description": "Yaw 90\u00b0",
          "value": 2
        },
        {
          "description": "Yaw 135\u00b0",
          "value": 3
        },
        {
          "description": "Yaw 180\u00b0",
          "value": 4
        },
        {
          "description": "Yaw 225\u00b0",
          "value": 5
        },
        {
          "description": "Yaw 270\u00b0",
          "value": 6
        },
        {
          "description": "Yaw 315\u00b0",
          "value": 7
        },
        {
          "description": "Roll 180\u00b0",
          "value": 8
        },
        {
          "description": "Roll 180\u00b0, Yaw 45\u00b0",
          "value": 9
        },
        {
          "description": "Roll 180\u00b0, Yaw 90\u00b0",
          "value": 10
        },
        {
          "description": "Roll 180\u00b0, Yaw 135\u00b0",
          "value": 11
        },
        {
          "description": "Pitch 180\u00b0",
          "value": 12
        },
        {
          "description": "Roll 180\u00b0, Yaw 225\u00b0",
          "value": 13
        },
        {
          "description": "Roll 180\u00b0, Yaw 270\u00b0",
          "value": 14
        },
        {
          "description": "Roll 180\u00b0, Yaw 315\u00b0",
          "value": 15
        },
        {
          "description": "Roll 90\u00b0",
          "value": 16
        },
        {
          "description": "Roll 90\u00b0, Yaw 45\u00b0",
          "value": 17
        },
        {
          "description": "Roll 90\u00b0, Yaw 90\u00b0",
          "value": 18
        },
        {
          "description": "Roll 90\u00b0, Yaw 135\u00b0",
          "value": 19
        },
        {
          "description": "Roll 270\u00b0",
          "value": 20
        },
        {
          "description": "Roll 270\u00b0, Yaw 45\u00b0",
          "value": 21
        },
        {
          "description": "Roll 270\u00b0, Yaw 90\u00b0",
          "value": 22
        },
        {
          "description": "Roll 270\u00b0, Yaw 135\u00b0",
          "value": 23
        },
        {
          "description": "Pitch 90\u00b0",
          "value": 24
        },
        {
          "description": "Pitch 270\u00b0",
          "value": 25
        },
        {
          "description": "Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 26
        },
        {
          "description": "Pitch 180\u00b0, Yaw 270\u00b0",
          "value": 27
        },
        {
          "description": "Roll 90\u00b0, Pitch 90\u00b0",
          "value": 28
        },
        {
          "description": "Roll 180\u00b0, Pitch 90\u00b0",
          "value": 29
        },
        {
          "description": "Roll 270\u00b0, Pitch 90\u00b0",
          "value": 30
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0",
          "value": 31
        },
        {
          "description": "Roll 270\u00b0, Pitch 180\u00b0",
          "value": 32
        },
        {
          "description": "Roll 90\u00b0, Pitch 270\u00b0",
          "value": 33
        },
        {
          "description": "Roll 180\u00b0, Pitch 270\u00b0",
          "value": 34
        },
        {
          "description": "Roll 270\u00b0, Pitch 270\u00b0",
          "value": 35
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 36
        },
        {
          "description": "Roll 90\u00b0, Yaw 270\u00b0",
          "value": 37
        },
        {
          "description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0",
          "value": 38
        },
        {
          "description": "Pitch 315\u00b0",
          "value": 39
        },
        {
          "description": "Roll 90\u00b0, Pitch 315\u00b0",
          "value": 40
        }
      ]
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "longDesc": "Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]",
      "name": "CAL_MAG2_XCOMP",
      "shortDesc": "Magnetometer 2 X Axis throttle compensation",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG2_XODIAG",
      "shortDesc": "Magnetometer 2 X-axis off diagonal scale factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG2_XOFF",
      "shortDesc": "Magnetometer 2 X-axis offset",
      "type": "Float",
      "units": "gauss",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_MAG2_XSCALE",
      "shortDesc": "Magnetometer 2 X-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "longDesc": "Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]",
      "name": "CAL_MAG2_YCOMP",
      "shortDesc": "Magnetometer 2 Y Axis throttle compensation",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG2_YODIAG",
      "shortDesc": "Magnetometer 2 Y-axis off diagonal scale factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG2_YOFF",
      "shortDesc": "Magnetometer 2 Y-axis offset",
      "type": "Float",
      "units": "gauss",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_MAG2_YSCALE",
      "shortDesc": "Magnetometer 2 Y-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "longDesc": "Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]",
      "name": "CAL_MAG2_ZCOMP",
      "shortDesc": "Magnetometer 2 Z Axis throttle compensation",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG2_ZODIAG",
      "shortDesc": "Magnetometer 2 Z-axis off diagonal scale factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG2_ZOFF",
      "shortDesc": "Magnetometer 2 Z-axis offset",
      "type": "Float",
      "units": "gauss",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_MAG2_ZSCALE",
      "shortDesc": "Magnetometer 2 Z-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "default": 0,
      "group": "Sensor Calibration",
      "longDesc": "Device ID of the magnetometer this calibration applies to.",
      "name": "CAL_MAG3_ID",
      "shortDesc": "Magnetometer 3 calibration device ID",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "name": "CAL_MAG3_PRIO",
      "shortDesc": "Magnetometer 3 priority",
      "type": "Int32",
      "values": [
        {
          "description": "Uninitialized",
          "value": -1
        },
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Min",
          "value": 1
        },
        {
          "description": "Low",
          "value": 25
        },
        {
          "description": "Medium (Default)",
          "value": 50
        },
        {
          "description": "High",
          "value": 75
        },
        {
          "description": "Max",
          "value": 100
        }
      ]
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensor Calibration",
      "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.",
      "max": 40,
      "min": -1,
      "name": "CAL_MAG3_ROT",
      "shortDesc": "Magnetometer 3 rotation relative to airframe",
      "type": "Int32",
      "values": [
        {
          "description": "Internal",
          "value": -1
        },
        {
          "description": "No rotation",
          "value": 0
        },
        {
          "description": "Yaw 45\u00b0",
          "value": 1
        },
        {
          "description": "Yaw 90\u00b0",
          "value": 2
        },
        {
          "description": "Yaw 135\u00b0",
          "value": 3
        },
        {
          "description": "Yaw 180\u00b0",
          "value": 4
        },
        {
          "description": "Yaw 225\u00b0",
          "value": 5
        },
        {
          "description": "Yaw 270\u00b0",
          "value": 6
        },
        {
          "description": "Yaw 315\u00b0",
          "value": 7
        },
        {
          "description": "Roll 180\u00b0",
          "value": 8
        },
        {
          "description": "Roll 180\u00b0, Yaw 45\u00b0",
          "value": 9
        },
        {
          "description": "Roll 180\u00b0, Yaw 90\u00b0",
          "value": 10
        },
        {
          "description": "Roll 180\u00b0, Yaw 135\u00b0",
          "value": 11
        },
        {
          "description": "Pitch 180\u00b0",
          "value": 12
        },
        {
          "description": "Roll 180\u00b0, Yaw 225\u00b0",
          "value": 13
        },
        {
          "description": "Roll 180\u00b0, Yaw 270\u00b0",
          "value": 14
        },
        {
          "description": "Roll 180\u00b0, Yaw 315\u00b0",
          "value": 15
        },
        {
          "description": "Roll 90\u00b0",
          "value": 16
        },
        {
          "description": "Roll 90\u00b0, Yaw 45\u00b0",
          "value": 17
        },
        {
          "description": "Roll 90\u00b0, Yaw 90\u00b0",
          "value": 18
        },
        {
          "description": "Roll 90\u00b0, Yaw 135\u00b0",
          "value": 19
        },
        {
          "description": "Roll 270\u00b0",
          "value": 20
        },
        {
          "description": "Roll 270\u00b0, Yaw 45\u00b0",
          "value": 21
        },
        {
          "description": "Roll 270\u00b0, Yaw 90\u00b0",
          "value": 22
        },
        {
          "description": "Roll 270\u00b0, Yaw 135\u00b0",
          "value": 23
        },
        {
          "description": "Pitch 90\u00b0",
          "value": 24
        },
        {
          "description": "Pitch 270\u00b0",
          "value": 25
        },
        {
          "description": "Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 26
        },
        {
          "description": "Pitch 180\u00b0, Yaw 270\u00b0",
          "value": 27
        },
        {
          "description": "Roll 90\u00b0, Pitch 90\u00b0",
          "value": 28
        },
        {
          "description": "Roll 180\u00b0, Pitch 90\u00b0",
          "value": 29
        },
        {
          "description": "Roll 270\u00b0, Pitch 90\u00b0",
          "value": 30
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0",
          "value": 31
        },
        {
          "description": "Roll 270\u00b0, Pitch 180\u00b0",
          "value": 32
        },
        {
          "description": "Roll 90\u00b0, Pitch 270\u00b0",
          "value": 33
        },
        {
          "description": "Roll 180\u00b0, Pitch 270\u00b0",
          "value": 34
        },
        {
          "description": "Roll 270\u00b0, Pitch 270\u00b0",
          "value": 35
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 36
        },
        {
          "description": "Roll 90\u00b0, Yaw 270\u00b0",
          "value": 37
        },
        {
          "description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0",
          "value": 38
        },
        {
          "description": "Pitch 315\u00b0",
          "value": 39
        },
        {
          "description": "Roll 90\u00b0, Pitch 315\u00b0",
          "value": 40
        }
      ]
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "longDesc": "Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]",
      "name": "CAL_MAG3_XCOMP",
      "shortDesc": "Magnetometer 3 X Axis throttle compensation",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG3_XODIAG",
      "shortDesc": "Magnetometer 3 X-axis off diagonal scale factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG3_XOFF",
      "shortDesc": "Magnetometer 3 X-axis offset",
      "type": "Float",
      "units": "gauss",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_MAG3_XSCALE",
      "shortDesc": "Magnetometer 3 X-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "longDesc": "Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]",
      "name": "CAL_MAG3_YCOMP",
      "shortDesc": "Magnetometer 3 Y Axis throttle compensation",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG3_YODIAG",
      "shortDesc": "Magnetometer 3 Y-axis off diagonal scale factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG3_YOFF",
      "shortDesc": "Magnetometer 3 Y-axis offset",
      "type": "Float",
      "units": "gauss",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_MAG3_YSCALE",
      "shortDesc": "Magnetometer 3 Y-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "longDesc": "Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]",
      "name": "CAL_MAG3_ZCOMP",
      "shortDesc": "Magnetometer 3 Z Axis throttle compensation",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG3_ZODIAG",
      "shortDesc": "Magnetometer 3 Z-axis off diagonal scale factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG3_ZOFF",
      "shortDesc": "Magnetometer 3 Z-axis offset",
      "type": "Float",
      "units": "gauss",
      "volatile": true
    },
    {
      "category": "System",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "Sensor Calibration",
      "max": 3.0,
      "min": 0.1,
      "name": "CAL_MAG3_ZSCALE",
      "shortDesc": "Magnetometer 3 Z-axis scaling factor",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "System",
      "default": 0,
      "group": "Sensor Calibration",
      "name": "CAL_MAG_COMP_TYP",
      "shortDesc": "Type of magnetometer compensation",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Throttle-based compensation",
          "value": 1
        },
        {
          "description": "Current-based compensation (battery_status instance 0)",
          "value": 2
        },
        {
          "description": "Current-based compensation (battery_status instance 1)",
          "value": 3
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "Sensor Calibration",
      "longDesc": "Pick the appropriate scaling from the datasheet. this number defines the (linear) conversion from voltage to Pascal (pa). For the MPXV7002DP this is 1000. NOTE: If the sensor always registers zero, try switching the static and dynamic tubes.",
      "name": "SENS_DPRES_ANSC",
      "shortDesc": "Differential pressure sensor analog scaling",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Sensor Calibration",
      "longDesc": "The offset (zero-reading) in Pascal",
      "name": "SENS_DPRES_OFF",
      "shortDesc": "Differential pressure sensor offset",
      "type": "Float",
      "volatile": true
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 100.0,
      "group": "Sensor Calibration",
      "increment": 0.1,
      "longDesc": "This parameter defines the maximum distance from ground at which the optical flow sensor operates reliably. The height setpoint will be limited to be no greater than this value when the navigation system is completely reliant on optical flow data and the height above ground estimate is valid. The sensor may be usable above this height, but accuracy will progressively degrade.",
      "max": 100.0,
      "min": 1.0,
      "name": "SENS_FLOW_MAXHGT",
      "shortDesc": "Maximum height above ground when reliant on optical flow",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 8.0,
      "group": "Sensor Calibration",
      "longDesc": "Optical flow data will not fused by the estimators if the magnitude of the flow rate exceeds this value and control loops will be instructed to limit ground speed such that the flow rate produced by movement over ground is less than 50% of this value.",
      "min": 1.0,
      "name": "SENS_FLOW_MAXR",
      "shortDesc": "Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor",
      "type": "Float",
      "units": "rad/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.08,
      "group": "Sensor Calibration",
      "increment": 0.1,
      "longDesc": "This parameter defines the minimum distance from ground at which the optical flow sensor operates reliably. The sensor may be usable below this height, but accuracy will progressively reduce to loss of focus.",
      "max": 1.0,
      "min": 0.0,
      "name": "SENS_FLOW_MINHGT",
      "shortDesc": "Minimum height above ground when reliant on optical flow",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Sensors",
      "longDesc": "Model with Pitot CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Model without Pitot (1.5 mm tubes) CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Tube Pressure Drop CAL_AIR_TUBED_MM: Diameter in mm of the pitot and tubes, must have the same diameter. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.",
      "name": "CAL_AIR_CMODEL",
      "shortDesc": "Airspeed sensor compensation model for the SDP3x",
      "type": "Int32",
      "values": [
        {
          "description": "Model with Pitot",
          "value": 0
        },
        {
          "description": "Model without Pitot (1.5 mm tubes)",
          "value": 1
        },
        {
          "description": "Tube Pressure Drop",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1.5,
      "group": "Sensors",
      "max": 100.0,
      "min": 1.5,
      "name": "CAL_AIR_TUBED_MM",
      "shortDesc": "Airspeed sensor tube diameter. Only used for the Tube Pressure Drop Compensation",
      "type": "Float",
      "units": "mm"
    },
    {
      "category": "Standard",
      "default": 0.2,
      "group": "Sensors",
      "longDesc": "See the CAL_AIR_CMODEL explanation on how this parameter should be set.",
      "max": 2.0,
      "min": 0.01,
      "name": "CAL_AIR_TUBELEN",
      "shortDesc": "Airspeed sensor tube length",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Developer",
      "default": 63,
      "group": "Sensors",
      "longDesc": "Use SENS_MAG_SIDES instead",
      "name": "CAL_MAG_SIDES",
      "shortDesc": "For legacy QGC support only",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 30.0,
      "group": "Sensors",
      "longDesc": "The cutoff frequency for the 2nd order butterworth filter on the primary accelerometer. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.",
      "max": 1000.0,
      "min": 0.0,
      "name": "IMU_ACCEL_CUTOFF",
      "rebootRequired": true,
      "shortDesc": "Low pass filter cutoff frequency for accel",
      "type": "Float",
      "units": "Hz"
    },
    {
      "category": "Standard",
      "default": 30.0,
      "group": "Sensors",
      "longDesc": "The cutoff frequency for the 2nd order butterworth filter used on the time derivative of the measured angular velocity, also known as the D-term filter in the rate controller. The D-term uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a D-term filter allows to increase IMU_GYRO_CUTOFF, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter.",
      "max": 1000.0,
      "min": 0.0,
      "name": "IMU_DGYRO_CUTOFF",
      "rebootRequired": true,
      "shortDesc": "Cutoff frequency for angular acceleration (D-Term filter)",
      "type": "Float",
      "units": "Hz"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Sensors",
      "name": "IMU_GYRO_CAL_EN",
      "rebootRequired": true,
      "shortDesc": "IMU gyro auto calibration enable",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 40.0,
      "group": "Sensors",
      "longDesc": "The cutoff frequency for the 2nd order butterworth filter on the primary gyro. This only affects the angular velocity sent to the controllers, not the estimators. It applies also to the angular acceleration (D-Term filter), see IMU_DGYRO_CUTOFF. A value of 0 disables the filter.",
      "max": 1000.0,
      "min": 0.0,
      "name": "IMU_GYRO_CUTOFF",
      "rebootRequired": true,
      "shortDesc": "Low pass filter cutoff frequency for gyro",
      "type": "Float",
      "units": "Hz"
    },
    {
      "category": "Standard",
      "default": 15.0,
      "group": "Sensors",
      "longDesc": "Bandwidth per notch filter when using dynamic notch filtering with ESC RPM.",
      "max": 30.0,
      "min": 5.0,
      "name": "IMU_GYRO_DNF_BW",
      "shortDesc": "IMU gyro ESC notch filter bandwidth",
      "type": "Float",
      "units": "Hz"
    },
    {
      "bitmask": [
        {
          "description": "ESC RPM",
          "index": 0
        },
        {
          "description": "FFT",
          "index": 1
        }
      ],
      "category": "Standard",
      "default": 0,
      "group": "Sensors",
      "longDesc": "Enable bank of dynamically updating notch filters. Requires ESC RPM feedback or onboard FFT (IMU_GYRO_FFT_EN).",
      "max": 3,
      "min": 0,
      "name": "IMU_GYRO_DNF_EN",
      "shortDesc": "IMU gyro dynamic notch filtering",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 3,
      "group": "Sensors",
      "longDesc": "ESC RPM number of harmonics (multiples of RPM) for ESC RPM dynamic notch filtering.",
      "max": 7,
      "min": 1,
      "name": "IMU_GYRO_DNF_HMC",
      "shortDesc": "IMU gyro dynamic notch filter harmonics",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 25.0,
      "group": "Sensors",
      "longDesc": "Minimum notch filter frequency in Hz.",
      "name": "IMU_GYRO_DNF_MIN",
      "shortDesc": "IMU gyro dynamic notch filter minimum frequency",
      "type": "Float",
      "units": "Hz"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Sensors",
      "name": "IMU_GYRO_FFT_EN",
      "rebootRequired": true,
      "shortDesc": "IMU gyro FFT enable",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 512,
      "group": "Sensors",
      "name": "IMU_GYRO_FFT_LEN",
      "rebootRequired": true,
      "shortDesc": "IMU gyro FFT length",
      "type": "Int32",
      "units": "Hz",
      "values": [
        {
          "description": "256",
          "value": 256
        },
        {
          "description": "512",
          "value": 512
        },
        {
          "description": "1024",
          "value": 1024
        },
        {
          "description": "4096",
          "value": 4096
        }
      ]
    },
    {
      "category": "Standard",
      "default": 150.0,
      "group": "Sensors",
      "max": 1000.0,
      "min": 1.0,
      "name": "IMU_GYRO_FFT_MAX",
      "rebootRequired": true,
      "shortDesc": "IMU gyro FFT maximum frequency",
      "type": "Float",
      "units": "Hz"
    },
    {
      "category": "Standard",
      "default": 30.0,
      "group": "Sensors",
      "max": 1000.0,
      "min": 1.0,
      "name": "IMU_GYRO_FFT_MIN",
      "rebootRequired": true,
      "shortDesc": "IMU gyro FFT minimum frequency",
      "type": "Float",
      "units": "Hz"
    },
    {
      "category": "Standard",
      "default": 10.0,
      "group": "Sensors",
      "max": 30.0,
      "min": 1.0,
      "name": "IMU_GYRO_FFT_SNR",
      "shortDesc": "IMU gyro FFT SNR",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 20.0,
      "group": "Sensors",
      "longDesc": "The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See \"IMU_GYRO_NF0_FRQ\" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.",
      "max": 100.0,
      "min": 0.0,
      "name": "IMU_GYRO_NF0_BW",
      "rebootRequired": true,
      "shortDesc": "Notch filter bandwidth for gyro",
      "type": "Float",
      "units": "Hz"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "Sensors",
      "longDesc": "The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See \"IMU_GYRO_NF0_BW\" to set the bandwidth of the filter. A value of 0 disables the filter.",
      "max": 1000.0,
      "min": 0.0,
      "name": "IMU_GYRO_NF0_FRQ",
      "rebootRequired": true,
      "shortDesc": "Notch filter frequency for gyro",
      "type": "Float",
      "units": "Hz"
    },
    {
      "category": "Standard",
      "default": 20.0,
      "group": "Sensors",
      "longDesc": "The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See \"IMU_GYRO_NF1_FRQ\" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.",
      "max": 100.0,
      "min": 0.0,
      "name": "IMU_GYRO_NF1_BW",
      "rebootRequired": true,
      "shortDesc": "Notch filter 1 bandwidth for gyro",
      "type": "Float",
      "units": "Hz"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "Sensors",
      "longDesc": "The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See \"IMU_GYRO_NF1_BW\" to set the bandwidth of the filter. A value of 0 disables the filter.",
      "max": 1000.0,
      "min": 0.0,
      "name": "IMU_GYRO_NF1_FRQ",
      "rebootRequired": true,
      "shortDesc": "Notch filter 2 frequency for gyro",
      "type": "Float",
      "units": "Hz"
    },
    {
      "category": "Standard",
      "default": 400,
      "group": "Sensors",
      "longDesc": "The maximum rate the gyro control data (vehicle_angular_velocity) will be allowed to publish at. This is the loop rate for the rate controller and outputs. Note: sensor data is always read and filtered at the full raw rate (eg commonly 8 kHz) regardless of this setting.",
      "max": 2000,
      "min": 100,
      "name": "IMU_GYRO_RATEMAX",
      "rebootRequired": true,
      "shortDesc": "Gyro control data maximum publication rate (inner loop rate)",
      "type": "Int32",
      "units": "Hz",
      "values": [
        {
          "description": "100 Hz",
          "value": 100
        },
        {
          "description": "250 Hz",
          "value": 250
        },
        {
          "description": "400 Hz",
          "value": 400
        },
        {
          "description": "800 Hz",
          "value": 800
        },
        {
          "description": "1000 Hz",
          "value": 1000
        },
        {
          "description": "2000 Hz",
          "value": 2000
        }
      ]
    },
    {
      "category": "Standard",
      "default": 200,
      "group": "Sensors",
      "longDesc": "The rate at which raw IMU data is integrated to produce delta angles and delta velocities. Recommended to set this to a multiple of the estimator update period (currently 10 ms for ekf2).",
      "max": 1000,
      "min": 100,
      "name": "IMU_INTEG_RATE",
      "rebootRequired": true,
      "shortDesc": "IMU integration rate",
      "type": "Int32",
      "units": "Hz",
      "values": [
        {
          "description": "100 Hz",
          "value": 100
        },
        {
          "description": "200 Hz",
          "value": 200
        },
        {
          "description": "250 Hz",
          "value": 250
        },
        {
          "description": "400 Hz",
          "value": 400
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1013.25,
      "group": "Sensors",
      "max": 1500.0,
      "min": 500.0,
      "name": "SENS_BARO_QNH",
      "shortDesc": "QNH for barometer",
      "type": "Float",
      "units": "hPa"
    },
    {
      "category": "Standard",
      "default": 20.0,
      "group": "Sensors",
      "longDesc": "Barometric air data maximum publication rate. This is an upper bound, actual barometric data rate is still dependent on the sensor.",
      "max": 200.0,
      "min": 1.0,
      "name": "SENS_BARO_RATE",
      "shortDesc": "Baro max rate",
      "type": "Float",
      "units": "Hz"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Sensors",
      "longDesc": "This parameter defines the rotation of the FMU board relative to the platform.",
      "max": 40,
      "min": -1,
      "name": "SENS_BOARD_ROT",
      "rebootRequired": true,
      "shortDesc": "Board rotation",
      "type": "Int32",
      "values": [
        {
          "description": "No rotation",
          "value": 0
        },
        {
          "description": "Yaw 45\u00b0",
          "value": 1
        },
        {
          "description": "Yaw 90\u00b0",
          "value": 2
        },
        {
          "description": "Yaw 135\u00b0",
          "value": 3
        },
        {
          "description": "Yaw 180\u00b0",
          "value": 4
        },
        {
          "description": "Yaw 225\u00b0",
          "value": 5
        },
        {
          "description": "Yaw 270\u00b0",
          "value": 6
        },
        {
          "description": "Yaw 315\u00b0",
          "value": 7
        },
        {
          "description": "Roll 180\u00b0",
          "value": 8
        },
        {
          "description": "Roll 180\u00b0, Yaw 45\u00b0",
          "value": 9
        },
        {
          "description": "Roll 180\u00b0, Yaw 90\u00b0",
          "value": 10
        },
        {
          "description": "Roll 180\u00b0, Yaw 135\u00b0",
          "value": 11
        },
        {
          "description": "Pitch 180\u00b0",
          "value": 12
        },
        {
          "description": "Roll 180\u00b0, Yaw 225\u00b0",
          "value": 13
        },
        {
          "description": "Roll 180\u00b0, Yaw 270\u00b0",
          "value": 14
        },
        {
          "description": "Roll 180\u00b0, Yaw 315\u00b0",
          "value": 15
        },
        {
          "description": "Roll 90\u00b0",
          "value": 16
        },
        {
          "description": "Roll 90\u00b0, Yaw 45\u00b0",
          "value": 17
        },
        {
          "description": "Roll 90\u00b0, Yaw 90\u00b0",
          "value": 18
        },
        {
          "description": "Roll 90\u00b0, Yaw 135\u00b0",
          "value": 19
        },
        {
          "description": "Roll 270\u00b0",
          "value": 20
        },
        {
          "description": "Roll 270\u00b0, Yaw 45\u00b0",
          "value": 21
        },
        {
          "description": "Roll 270\u00b0, Yaw 90\u00b0",
          "value": 22
        },
        {
          "description": "Roll 270\u00b0, Yaw 135\u00b0",
          "value": 23
        },
        {
          "description": "Pitch 90\u00b0",
          "value": 24
        },
        {
          "description": "Pitch 270\u00b0",
          "value": 25
        },
        {
          "description": "Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 26
        },
        {
          "description": "Pitch 180\u00b0, Yaw 270\u00b0",
          "value": 27
        },
        {
          "description": "Roll 90\u00b0, Pitch 90\u00b0",
          "value": 28
        },
        {
          "description": "Roll 180\u00b0, Pitch 90\u00b0",
          "value": 29
        },
        {
          "description": "Roll 270\u00b0, Pitch 90\u00b0",
          "value": 30
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0",
          "value": 31
        },
        {
          "description": "Roll 270\u00b0, Pitch 180\u00b0",
          "value": 32
        },
        {
          "description": "Roll 90\u00b0, Pitch 270\u00b0",
          "value": 33
        },
        {
          "description": "Roll 180\u00b0, Pitch 270\u00b0",
          "value": 34
        },
        {
          "description": "Roll 270\u00b0, Pitch 270\u00b0",
          "value": 35
        },
        {
          "description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0",
          "value": 36
        },
        {
          "description": "Roll 90\u00b0, Yaw 270\u00b0",
          "value": 37
        },
        {
          "description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0",
          "value": 38
        },
        {
          "description": "Pitch 315\u00b0",
          "value": 39
        },
        {
          "description": "Roll 90\u00b0, Pitch 315\u00b0",
          "value": 40
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "Sensors",
      "longDesc": "This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user to fine tune the board offset in the event of misalignment.",
      "name": "SENS_BOARD_X_OFF",
      "shortDesc": "Board rotation X (Roll) offset",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "Sensors",
      "longDesc": "This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user to fine tune the board offset in the event of misalignment.",
      "name": "SENS_BOARD_Y_OFF",
      "shortDesc": "Board rotation Y (Pitch) offset",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "Sensors",
      "longDesc": "This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user to fine tune the board offset in the event of misalignment.",
      "name": "SENS_BOARD_Z_OFF",
      "shortDesc": "Board rotation Z (YAW) offset",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Sensors",
      "max": 1,
      "min": 0,
      "name": "SENS_EN_ARSPDSIM",
      "rebootRequired": true,
      "shortDesc": "Enable simulated airspeed sensor instance",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Sensors",
      "max": 1,
      "min": 0,
      "name": "SENS_EN_BAROSIM",
      "rebootRequired": true,
      "shortDesc": "Enable simulated barometer sensor instance",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Sensors",
      "max": 1,
      "min": 0,
      "name": "SENS_EN_GPSSIM",
      "rebootRequired": true,
      "shortDesc": "Enable simulated GPS sinstance",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Sensors",
      "max": 1,
      "min": 0,
      "name": "SENS_EN_MAGSIM",
      "rebootRequired": true,
      "shortDesc": "Enable simulated magnetometer sensor instance",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "System",
      "default": -1,
      "group": "Sensors",
      "name": "SENS_EN_THERMAL",
      "shortDesc": "Thermal control of sensor temperature",
      "type": "Int32",
      "values": [
        {
          "description": "Thermal control unavailable",
          "value": -1
        },
        {
          "description": "Thermal control off",
          "value": 0
        },
        {
          "description": "Thermal control enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "System",
      "default": 1,
      "group": "Sensors",
      "longDesc": "Probe for optional external I2C devices.",
      "name": "SENS_EXT_I2C_PRB",
      "shortDesc": "External I2C probe",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 70.0,
      "group": "Sensors",
      "longDesc": "Optical flow data maximum publication rate. This is an upper bound, actual optical flow data rate is still dependent on the sensor.",
      "max": 200.0,
      "min": 1.0,
      "name": "SENS_FLOW_RATE",
      "rebootRequired": true,
      "shortDesc": "Optical flow max rate",
      "type": "Float",
      "units": "Hz"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Sensors",
      "longDesc": "This parameter defines the yaw rotation of the optical flow relative to the vehicle body frame. Zero rotation is defined as X on flow board pointing towards front of vehicle.",
      "name": "SENS_FLOW_ROT",
      "shortDesc": "Optical flow rotation",
      "type": "Int32",
      "values": [
        {
          "description": "No rotation",
          "value": 0
        },
        {
          "description": "Yaw 45\u00b0",
          "value": 1
        },
        {
          "description": "Yaw 90\u00b0",
          "value": 2
        },
        {
          "description": "Yaw 135\u00b0",
          "value": 3
        },
        {
          "description": "Yaw 180\u00b0",
          "value": 4
        },
        {
          "description": "Yaw 225\u00b0",
          "value": 5
        },
        {
          "description": "Yaw 270\u00b0",
          "value": 6
        },
        {
          "description": "Yaw 315\u00b0",
          "value": 7
        }
      ]
    },
    {
      "bitmask": [
        {
          "description": "use speed accuracy",
          "index": 0
        },
        {
          "description": "use hpos accuracy",
          "index": 1
        },
        {
          "description": "use vpos accuracy",
          "index": 2
        }
      ],
      "category": "Standard",
      "default": 7,
      "group": "Sensors",
      "longDesc": "Set bits in the following positions to set which GPS accuracy metrics will be used to calculate the blending weight. Set to zero to disable and always used first GPS instance. 0 : Set to true to use speed accuracy 1 : Set to true to use horizontal position accuracy 2 : Set to true to use vertical position accuracy",
      "max": 7,
      "min": 0,
      "name": "SENS_GPS_MASK",
      "shortDesc": "Multi GPS Blending Control Mask",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Sensors",
      "longDesc": "When no blending is active, this defines the preferred GPS receiver instance. The GPS selection logic waits until the primary receiver is available to send data to the EKF even if a secondary instance is already available. The secondary instance is then only used if the primary one times out. To have an equal priority of all the instances, set this parameter to -1 and the best receiver will be used. This parameter has no effect if blending is active.",
      "max": 1,
      "min": -1,
      "name": "SENS_GPS_PRIME",
      "shortDesc": "Multi GPS primary instance",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 10.0,
      "group": "Sensors",
      "longDesc": "Sets the longest time constant that will be applied to the calculation of GPS position and height offsets used to correct data from multiple GPS data for steady state position differences.",
      "max": 100.0,
      "min": 1.0,
      "name": "SENS_GPS_TAU",
      "shortDesc": "Multi GPS Blending Time Constant",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "System",
      "default": 1,
      "group": "Sensors",
      "longDesc": "Automatically initialize IMU (accel/gyro) calibration from bias estimates if available.",
      "name": "SENS_IMU_AUTOCAL",
      "shortDesc": "IMU auto calibration",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "System",
      "default": 1,
      "group": "Sensors",
      "name": "SENS_IMU_MODE",
      "rebootRequired": true,
      "shortDesc": "Sensors hub IMU mode",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Publish primary IMU selection",
          "value": 1
        }
      ]
    },
    {
      "category": "System",
      "default": 1,
      "group": "Sensors",
      "longDesc": "For systems with an external barometer, this should be set to false to make sure that the external is used.",
      "name": "SENS_INT_BARO_EN",
      "rebootRequired": true,
      "shortDesc": "Enable internal barometers",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "System",
      "default": 1,
      "group": "Sensors",
      "longDesc": "Automatically initialize magnetometer calibration from bias estimate if available.",
      "name": "SENS_MAG_AUTOCAL",
      "shortDesc": "Magnetometer auto calibration",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "Sensors",
      "longDesc": "During calibration attempt to automatically determine the rotation of external magnetometers.",
      "name": "SENS_MAG_AUTOROT",
      "shortDesc": "Automatically set external rotations",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "System",
      "default": 1,
      "group": "Sensors",
      "name": "SENS_MAG_MODE",
      "rebootRequired": true,
      "shortDesc": "Sensors hub mag mode",
      "type": "Int32",
      "values": [
        {
          "description": "Publish all magnetometers",
          "value": 0
        },
        {
          "description": "Publish primary magnetometer",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 15.0,
      "group": "Sensors",
      "longDesc": "Magnetometer data maximum publication rate. This is an upper bound, actual magnetometer data rate is still dependent on the sensor.",
      "max": 200.0,
      "min": 1.0,
      "name": "SENS_MAG_RATE",
      "rebootRequired": true,
      "shortDesc": "Magnetometer max rate",
      "type": "Float",
      "units": "Hz"
    },
    {
      "category": "Standard",
      "default": 63,
      "group": "Sensors",
      "longDesc": "If set to two side calibration, only the offsets are estimated, the scale calibration is left unchanged. Thus an initial six side calibration is recommended. Bits: ORIENTATION_TAIL_DOWN = 1 ORIENTATION_NOSE_DOWN = 2 ORIENTATION_LEFT = 4 ORIENTATION_RIGHT = 8 ORIENTATION_UPSIDE_DOWN = 16 ORIENTATION_RIGHTSIDE_UP = 32",
      "max": 63,
      "min": 34,
      "name": "SENS_MAG_SIDES",
      "shortDesc": "Bitfield selecting mag sides for calibration",
      "type": "Int32",
      "values": [
        {
          "description": "Two side calibration",
          "value": 34
        },
        {
          "description": "Three side calibration",
          "value": 38
        },
        {
          "description": "Six side calibration",
          "value": 63
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Sensors",
      "max": 1,
      "min": 0,
      "name": "SIM_ARSPD_FAIL",
      "rebootRequired": true,
      "shortDesc": "Dynamically simulate failure of airspeed sensor instance",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 4,
      "default": 100.0,
      "group": "Simulation In Hardware",
      "increment": 0.01,
      "max": 1000.0,
      "min": 0.0,
      "name": "SIH_DISTSNSR_MAX",
      "shortDesc": "distance sensor maximum range",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 4,
      "default": 0.0,
      "group": "Simulation In Hardware",
      "increment": 0.01,
      "max": 10.0,
      "min": 0.0,
      "name": "SIH_DISTSNSR_MIN",
      "shortDesc": "distance sensor minimum range",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": -1.0,
      "group": "Simulation In Hardware",
      "longDesc": "Absolute value superior to 10000 will disable distance sensor",
      "name": "SIH_DISTSNSR_OVR",
      "shortDesc": "if >= 0 the distance sensor measures will be overridden by this value",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.025,
      "group": "Simulation In Hardware",
      "increment": 0.005,
      "longDesc": "The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.",
      "min": 0.0,
      "name": "SIH_IXX",
      "shortDesc": "Vehicle inertia about X axis",
      "type": "Float",
      "units": "kg m^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Simulation In Hardware",
      "increment": 0.005,
      "longDesc": "The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.",
      "name": "SIH_IXY",
      "shortDesc": "Vehicle cross term inertia xy",
      "type": "Float",
      "units": "kg m^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Simulation In Hardware",
      "increment": 0.005,
      "longDesc": "The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.",
      "name": "SIH_IXZ",
      "shortDesc": "Vehicle cross term inertia xz",
      "type": "Float",
      "units": "kg m^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.025,
      "group": "Simulation In Hardware",
      "increment": 0.005,
      "longDesc": "The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.",
      "min": 0.0,
      "name": "SIH_IYY",
      "shortDesc": "Vehicle inertia about Y axis",
      "type": "Float",
      "units": "kg m^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "Simulation In Hardware",
      "increment": 0.005,
      "longDesc": "The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.",
      "name": "SIH_IYZ",
      "shortDesc": "Vehicle cross term inertia yz",
      "type": "Float",
      "units": "kg m^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.03,
      "group": "Simulation In Hardware",
      "increment": 0.005,
      "longDesc": "The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.",
      "min": 0.0,
      "name": "SIH_IZZ",
      "shortDesc": "Vehicle inertia about Z axis",
      "type": "Float",
      "units": "kg m^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 1.0,
      "group": "Simulation In Hardware",
      "increment": 0.05,
      "longDesc": "Physical coefficient representing the friction with air particules. The greater this value, the slower the quad will move. Drag force function of velocity: D=-KDV*V. The maximum freefall velocity can be computed as V=10*MASS/KDV [m/s]",
      "min": 0.0,
      "name": "SIH_KDV",
      "shortDesc": "First order drag coefficient",
      "type": "Float",
      "units": "N/(m/s)"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.025,
      "group": "Simulation In Hardware",
      "increment": 0.005,
      "longDesc": "Physical coefficient representing the friction with air particules during rotations. The greater this value, the slower the quad will rotate. Aerodynamic moment function of body rate: Ma=-KDW*W_B. This value can be set to 0 if unknown.",
      "min": 0.0,
      "name": "SIH_KDW",
      "shortDesc": "First order angular damper coefficient",
      "type": "Float",
      "units": "Nm/(rad/s)"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 32.34,
      "group": "Simulation In Hardware",
      "increment": 0.01,
      "longDesc": "This value represents the Above Mean Sea Level (AMSL) altitude where the simulation begins. If using FlightGear as a visual animation, this value can be tweaked such that the vehicle lies on the ground at takeoff. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.",
      "max": 8848.0,
      "min": -420.0,
      "name": "SIH_LOC_H0",
      "shortDesc": "Initial AMSL ground altitude",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 454671160,
      "group": "Simulation In Hardware",
      "longDesc": "This value represents the North-South location on Earth where the simulation begins. A value of 45 deg should be written 450000000. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.",
      "max": 850000000,
      "min": -850000000,
      "name": "SIH_LOC_LAT0",
      "shortDesc": "Initial geodetic latitude",
      "type": "Int32",
      "units": "deg*1e7"
    },
    {
      "category": "Standard",
      "default": -737578370,
      "group": "Simulation In Hardware",
      "longDesc": "This value represents the East-West location on Earth where the simulation begins. A value of 45 deg should be written 450000000. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.",
      "max": 1800000000,
      "min": -1800000000,
      "name": "SIH_LOC_LON0",
      "shortDesc": "Initial geodetic longitude",
      "type": "Int32",
      "units": "deg*1e7"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.2,
      "group": "Simulation In Hardware",
      "increment": 0.05,
      "longDesc": "This is the arm length generating the pitching moment This value can be measured with a ruler. This corresponds to half the distance between the front and rear motors.",
      "min": 0.0,
      "name": "SIH_L_PITCH",
      "shortDesc": "Pitch arm length",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.2,
      "group": "Simulation In Hardware",
      "increment": 0.05,
      "longDesc": "This is the arm length generating the rolling moment This value can be measured with a ruler. This corresponds to half the distance between the left and right motors.",
      "min": 0.0,
      "name": "SIH_L_ROLL",
      "shortDesc": "Roll arm length",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 1.0,
      "group": "Simulation In Hardware",
      "increment": 0.1,
      "longDesc": "This value can be measured by weighting the quad on a scale.",
      "min": 0.0,
      "name": "SIH_MASS",
      "shortDesc": "Vehicle mass",
      "type": "Float",
      "units": "kg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.1,
      "group": "Simulation In Hardware",
      "increment": 0.05,
      "longDesc": "This is the maximum torque delivered by one propeller when the motor is running at full speed. This value is usually about few percent of the maximum thrust force.",
      "min": 0.0,
      "name": "SIH_Q_MAX",
      "shortDesc": "Max propeller torque",
      "type": "Float",
      "units": "Nm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 5.0,
      "group": "Simulation In Hardware",
      "increment": 0.5,
      "longDesc": "This is the maximum force delivered by one propeller when the motor is running at full speed. This value is usually about 5 times the mass of the quadrotor.",
      "min": 0.0,
      "name": "SIH_T_MAX",
      "shortDesc": "Max propeller thrust force",
      "type": "Float",
      "units": "N"
    },
    {
      "category": "Standard",
      "default": 0.05,
      "group": "Simulation In Hardware",
      "longDesc": "the time taken for the thruster to step from 0 to 100% should be about 4 times tau",
      "name": "SIH_T_TAU",
      "shortDesc": "thruster time constant tau",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Simulation In Hardware",
      "name": "SIH_VEHICLE_TYPE",
      "rebootRequired": true,
      "shortDesc": "Vehicle type",
      "type": "Int32",
      "values": [
        {
          "description": "Multicopter",
          "value": 0
        },
        {
          "description": "Fixed-Wing",
          "value": 1
        },
        {
          "description": "Tailsitter",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "Simulator",
      "name": "SIM_BARO_OFF_P",
      "shortDesc": "simulated barometer pressure offset",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "Simulator",
      "name": "SIM_BARO_OFF_T",
      "shortDesc": "simulated barometer temperature offset",
      "type": "Float",
      "units": "celcius"
    },
    {
      "category": "Standard",
      "default": 10,
      "group": "Simulator",
      "max": 50,
      "min": 0,
      "name": "SIM_GPS_USED",
      "shortDesc": "simulated GPS number of satellites used",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "Simulator",
      "name": "SIM_MAG_OFFSET_X",
      "shortDesc": "simulated magnetometer X offset",
      "type": "Float",
      "units": "gauss"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "Simulator",
      "name": "SIM_MAG_OFFSET_Y",
      "shortDesc": "simulated magnetometer Y offset",
      "type": "Float",
      "units": "gauss"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "Simulator",
      "name": "SIM_MAG_OFFSET_Z",
      "shortDesc": "simulated magnetometer Z offset",
      "type": "Float",
      "units": "gauss"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "System",
      "longDesc": "Set to 1 to reset parameters on next system startup (setting defaults). Platform-specific values are used if available. RC* parameters are preserved.",
      "name": "SYS_AUTOCONFIG",
      "shortDesc": "Automatically configure default values",
      "type": "Int32",
      "values": [
        {
          "description": "Keep parameters",
          "value": 0
        },
        {
          "description": "Reset parameters to airframe defaults",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "System",
      "longDesc": "CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system.",
      "max": 9999999,
      "min": 0,
      "name": "SYS_AUTOSTART",
      "rebootRequired": true,
      "shortDesc": "Auto-start script index",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "System",
      "longDesc": "If enabled, update the bootloader on the next boot. WARNING: do not cut the power during an update process, otherwise you will have to recover using some alternative method (e.g. JTAG). Instructions: - Insert an SD card - Enable this parameter - Reboot the board (plug the power or send a reboot command) - Wait until the board comes back up (or at least 2 minutes) - If it does not come back, check the file bootlog.txt on the SD card",
      "name": "SYS_BL_UPDATE",
      "rebootRequired": true,
      "shortDesc": "Bootloader update",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "System",
      "longDesc": "0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)",
      "max": 1,
      "min": 0,
      "name": "SYS_CAL_ACCEL",
      "shortDesc": "Enable auto start of accelerometer thermal calibration at the next power up",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "System",
      "longDesc": "0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)",
      "max": 1,
      "min": 0,
      "name": "SYS_CAL_BARO",
      "shortDesc": "Enable auto start of barometer thermal calibration at the next power up",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "System",
      "longDesc": "0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)",
      "max": 1,
      "min": 0,
      "name": "SYS_CAL_GYRO",
      "shortDesc": "Enable auto start of rate gyro thermal calibration at the next power up",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 24,
      "group": "System",
      "longDesc": "A temperature increase greater than this value is required during calibration. Calibration will complete for each sensor when the temperature increase above the starting temperature exceeds the value set by SYS_CAL_TDEL. If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.",
      "min": 10,
      "name": "SYS_CAL_TDEL",
      "shortDesc": "Required temperature rise during thermal calibration",
      "type": "Int32",
      "units": "celcius"
    },
    {
      "category": "Standard",
      "default": 10,
      "group": "System",
      "longDesc": "Temperature calibration will not start if the temperature of any sensor is higher than the value set by SYS_CAL_TMAX.",
      "name": "SYS_CAL_TMAX",
      "shortDesc": "Maximum starting temperature for thermal calibration",
      "type": "Int32",
      "units": "celcius"
    },
    {
      "category": "Standard",
      "default": 5,
      "group": "System",
      "longDesc": "Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN.",
      "name": "SYS_CAL_TMIN",
      "shortDesc": "Minimum starting temperature for thermal calibration",
      "type": "Int32",
      "units": "celcius"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "System",
      "name": "SYS_DM_BACKEND",
      "rebootRequired": true,
      "shortDesc": "Dataman storage backend",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": -1
        },
        {
          "description": "default (SD card)",
          "value": 0
        },
        {
          "description": "RAM (not persistent)",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "System",
      "longDesc": "If enabled, future sensor calibrations will be stored to /fs/mtd_caldata. Note: this is only supported on boards with a separate calibration storage /fs/mtd_caldata.",
      "name": "SYS_FAC_CAL_MODE",
      "shortDesc": "Enable factory calibration mode",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "All sensors",
          "value": 1
        },
        {
          "description": "All sensors except mag",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "System",
      "longDesc": "If enabled allows MAVLink INJECT_FAILURE commands. WARNING: the failures can easily cause crashes and are to be used with caution!",
      "name": "SYS_FAILURE_EN",
      "shortDesc": "Enable failure injection",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "System",
      "longDesc": "Disable this if the board has no barometer, such as some of the Omnibus F4 SD variants. If disabled, the preflight checks will not check for the presence of a barometer.",
      "name": "SYS_HAS_BARO",
      "rebootRequired": true,
      "shortDesc": "Control if the vehicle has a barometer",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "System",
      "longDesc": "Disable this if the system has no GPS. If disabled, the sensors hub will not process sensor_gps, and GPS will not be available for the rest of the system.",
      "name": "SYS_HAS_GPS",
      "rebootRequired": true,
      "shortDesc": "Control if the vehicle has a GPS",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "System",
      "longDesc": "Set this to 0 if the board has no magnetometer. If set to 0, the preflight checks will not check for the presence of a magnetometer, otherwise N sensors are required.",
      "name": "SYS_HAS_MAG",
      "rebootRequired": true,
      "shortDesc": "Control if the vehicle has a magnetometer",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "System",
      "longDesc": "If set to the number of distance sensors, the preflight check will check for their presence and valid data publication. Disable with 0 if no distance sensor present or to disable the preflight check.",
      "max": 4,
      "min": 0,
      "name": "SYS_HAS_NUM_DIST",
      "rebootRequired": true,
      "shortDesc": "Control the number of distance sensors on the vehicle",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "System",
      "longDesc": "While enabled the system will boot in Hardware-In-The-Loop (HITL) or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks. When disabled the same vehicle can be flown normally. Set to 'external HITL', if the system should perform as if it were a real vehicle (the only difference to a real system is then only the parameter value, which can be used for log analysis).",
      "name": "SYS_HITL",
      "rebootRequired": true,
      "shortDesc": "Enable HITL/SIH mode on next boot",
      "type": "Int32",
      "values": [
        {
          "description": "external HITL",
          "value": -1
        },
        {
          "description": "HITL and SIH disabled",
          "value": 0
        },
        {
          "description": "HITL enabled",
          "value": 1
        },
        {
          "description": "SIH enabled",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "default": 2,
      "group": "System",
      "longDesc": "Set the group of estimators used for multicopters and VTOLs",
      "name": "SYS_MC_EST_GROUP",
      "rebootRequired": true,
      "shortDesc": "Set multicopter estimator group",
      "type": "Int32",
      "values": [
        {
          "description": "local_position_estimator, attitude_estimator_q (unsupported)",
          "value": 1
        },
        {
          "description": "ekf2 (recommended)",
          "value": 2
        },
        {
          "description": "Q attitude estimator (no position)",
          "value": 3
        }
      ]
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "System",
      "longDesc": "Set to 0 to disable, 1 for maximum brightness",
      "name": "SYS_RGB_MAXBRT",
      "shortDesc": "RGB Led brightness limit",
      "type": "Float",
      "units": "%"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "System",
      "name": "SYS_STCK_EN",
      "shortDesc": "Enable stack checking",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 2,
      "group": "Testing",
      "name": "TEST_1",
      "shortDesc": "TEST_1",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 4,
      "group": "Testing",
      "name": "TEST_2",
      "shortDesc": "TEST_2",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 5.0,
      "group": "Testing",
      "name": "TEST_3",
      "shortDesc": "TEST_3",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0.01,
      "group": "Testing",
      "name": "TEST_D",
      "shortDesc": "TEST_D",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 2.0,
      "group": "Testing",
      "name": "TEST_DEV",
      "shortDesc": "TEST_DEV",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 10.0,
      "group": "Testing",
      "name": "TEST_D_LP",
      "shortDesc": "TEST_D_LP",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 10.0,
      "group": "Testing",
      "name": "TEST_HP",
      "shortDesc": "TEST_HP",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0.1,
      "group": "Testing",
      "name": "TEST_I",
      "shortDesc": "TEST_I",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "Testing",
      "name": "TEST_I_MAX",
      "shortDesc": "TEST_I_MAX",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 10.0,
      "group": "Testing",
      "name": "TEST_LP",
      "shortDesc": "TEST_LP",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "Testing",
      "name": "TEST_MAX",
      "shortDesc": "TEST_MAX",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "Testing",
      "name": "TEST_MEAN",
      "shortDesc": "TEST_MEAN",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": -1.0,
      "group": "Testing",
      "name": "TEST_MIN",
      "shortDesc": "TEST_MIN",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0.2,
      "group": "Testing",
      "name": "TEST_P",
      "shortDesc": "TEST_P",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 12345678,
      "group": "Testing",
      "name": "TEST_PARAMS",
      "shortDesc": "TEST_PARAMS",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 16,
      "group": "Testing",
      "name": "TEST_RC2_X",
      "shortDesc": "TEST_RC2_X",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 8,
      "group": "Testing",
      "name": "TEST_RC_X",
      "shortDesc": "TEST_RC_X",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 0.5,
      "group": "Testing",
      "name": "TEST_TRIM",
      "shortDesc": "TEST_TRIM",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0,
      "group": "Thermal Compensation",
      "name": "TC_A0_ID",
      "shortDesc": "ID of Accelerometer that the calibration is for",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": 100.0,
      "group": "Thermal Compensation",
      "name": "TC_A0_TMAX",
      "shortDesc": "Accelerometer calibration maximum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A0_TMIN",
      "shortDesc": "Accelerometer calibration minimum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 25.0,
      "group": "Thermal Compensation",
      "name": "TC_A0_TREF",
      "shortDesc": "Accelerometer calibration reference temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A0_X0_0",
      "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A0_X0_1",
      "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A0_X0_2",
      "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A0_X1_0",
      "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A0_X1_1",
      "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A0_X1_2",
      "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A0_X2_0",
      "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A0_X2_1",
      "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A0_X2_2",
      "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A0_X3_0",
      "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A0_X3_1",
      "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A0_X3_2",
      "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0,
      "group": "Thermal Compensation",
      "name": "TC_A1_ID",
      "shortDesc": "ID of Accelerometer that the calibration is for",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": 100.0,
      "group": "Thermal Compensation",
      "name": "TC_A1_TMAX",
      "shortDesc": "Accelerometer calibration maximum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A1_TMIN",
      "shortDesc": "Accelerometer calibration minimum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 25.0,
      "group": "Thermal Compensation",
      "name": "TC_A1_TREF",
      "shortDesc": "Accelerometer calibration reference temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A1_X0_0",
      "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A1_X0_1",
      "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A1_X0_2",
      "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A1_X1_0",
      "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A1_X1_1",
      "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A1_X1_2",
      "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A1_X2_0",
      "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A1_X2_1",
      "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A1_X2_2",
      "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A1_X3_0",
      "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A1_X3_1",
      "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A1_X3_2",
      "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0,
      "group": "Thermal Compensation",
      "name": "TC_A2_ID",
      "shortDesc": "ID of Accelerometer that the calibration is for",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": 100.0,
      "group": "Thermal Compensation",
      "name": "TC_A2_TMAX",
      "shortDesc": "Accelerometer calibration maximum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A2_TMIN",
      "shortDesc": "Accelerometer calibration minimum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 25.0,
      "group": "Thermal Compensation",
      "name": "TC_A2_TREF",
      "shortDesc": "Accelerometer calibration reference temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A2_X0_0",
      "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A2_X0_1",
      "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A2_X0_2",
      "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A2_X1_0",
      "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A2_X1_1",
      "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A2_X1_2",
      "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A2_X2_0",
      "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A2_X2_1",
      "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A2_X2_2",
      "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A2_X3_0",
      "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A2_X3_1",
      "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A2_X3_2",
      "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0,
      "group": "Thermal Compensation",
      "name": "TC_A3_ID",
      "shortDesc": "ID of Accelerometer that the calibration is for",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": 100.0,
      "group": "Thermal Compensation",
      "name": "TC_A3_TMAX",
      "shortDesc": "Accelerometer calibration maximum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A3_TMIN",
      "shortDesc": "Accelerometer calibration minimum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 25.0,
      "group": "Thermal Compensation",
      "name": "TC_A3_TREF",
      "shortDesc": "Accelerometer calibration reference temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A3_X0_0",
      "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A3_X0_1",
      "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A3_X0_2",
      "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A3_X1_0",
      "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A3_X1_1",
      "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A3_X1_2",
      "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A3_X2_0",
      "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A3_X2_1",
      "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A3_X2_2",
      "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A3_X3_0",
      "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A3_X3_1",
      "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_A3_X3_2",
      "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Thermal Compensation",
      "name": "TC_A_ENABLE",
      "rebootRequired": true,
      "shortDesc": "Thermal compensation for accelerometer sensors",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "System",
      "default": 0,
      "group": "Thermal Compensation",
      "name": "TC_B0_ID",
      "shortDesc": "ID of Barometer that the calibration is for",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": 75.0,
      "group": "Thermal Compensation",
      "name": "TC_B0_TMAX",
      "shortDesc": "Barometer calibration maximum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 5.0,
      "group": "Thermal Compensation",
      "name": "TC_B0_TMIN",
      "shortDesc": "Barometer calibration minimum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 40.0,
      "group": "Thermal Compensation",
      "name": "TC_B0_TREF",
      "shortDesc": "Barometer calibration reference temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B0_X0",
      "shortDesc": "Barometer offset temperature ^0 polynomial coefficient",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B0_X1",
      "shortDesc": "Barometer offset temperature ^1 polynomial coefficients",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B0_X2",
      "shortDesc": "Barometer offset temperature ^2 polynomial coefficient",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B0_X3",
      "shortDesc": "Barometer offset temperature ^3 polynomial coefficient",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B0_X4",
      "shortDesc": "Barometer offset temperature ^4 polynomial coefficient",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B0_X5",
      "shortDesc": "Barometer offset temperature ^5 polynomial coefficient",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0,
      "group": "Thermal Compensation",
      "name": "TC_B1_ID",
      "shortDesc": "ID of Barometer that the calibration is for",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": 75.0,
      "group": "Thermal Compensation",
      "name": "TC_B1_TMAX",
      "shortDesc": "Barometer calibration maximum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 5.0,
      "group": "Thermal Compensation",
      "name": "TC_B1_TMIN",
      "shortDesc": "Barometer calibration minimum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 40.0,
      "group": "Thermal Compensation",
      "name": "TC_B1_TREF",
      "shortDesc": "Barometer calibration reference temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B1_X0",
      "shortDesc": "Barometer offset temperature ^0 polynomial coefficient",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B1_X1",
      "shortDesc": "Barometer offset temperature ^1 polynomial coefficients",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B1_X2",
      "shortDesc": "Barometer offset temperature ^2 polynomial coefficient",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B1_X3",
      "shortDesc": "Barometer offset temperature ^3 polynomial coefficient",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B1_X4",
      "shortDesc": "Barometer offset temperature ^4 polynomial coefficient",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B1_X5",
      "shortDesc": "Barometer offset temperature ^5 polynomial coefficient",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0,
      "group": "Thermal Compensation",
      "name": "TC_B2_ID",
      "shortDesc": "ID of Barometer that the calibration is for",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": 75.0,
      "group": "Thermal Compensation",
      "name": "TC_B2_TMAX",
      "shortDesc": "Barometer calibration maximum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 5.0,
      "group": "Thermal Compensation",
      "name": "TC_B2_TMIN",
      "shortDesc": "Barometer calibration minimum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 40.0,
      "group": "Thermal Compensation",
      "name": "TC_B2_TREF",
      "shortDesc": "Barometer calibration reference temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B2_X0",
      "shortDesc": "Barometer offset temperature ^0 polynomial coefficient",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B2_X1",
      "shortDesc": "Barometer offset temperature ^1 polynomial coefficients",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B2_X2",
      "shortDesc": "Barometer offset temperature ^2 polynomial coefficient",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B2_X3",
      "shortDesc": "Barometer offset temperature ^3 polynomial coefficient",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B2_X4",
      "shortDesc": "Barometer offset temperature ^4 polynomial coefficient",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B2_X5",
      "shortDesc": "Barometer offset temperature ^5 polynomial coefficient",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0,
      "group": "Thermal Compensation",
      "name": "TC_B3_ID",
      "shortDesc": "ID of Barometer that the calibration is for",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": 75.0,
      "group": "Thermal Compensation",
      "name": "TC_B3_TMAX",
      "shortDesc": "Barometer calibration maximum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 5.0,
      "group": "Thermal Compensation",
      "name": "TC_B3_TMIN",
      "shortDesc": "Barometer calibration minimum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 40.0,
      "group": "Thermal Compensation",
      "name": "TC_B3_TREF",
      "shortDesc": "Barometer calibration reference temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B3_X0",
      "shortDesc": "Barometer offset temperature ^0 polynomial coefficient",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B3_X1",
      "shortDesc": "Barometer offset temperature ^1 polynomial coefficients",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B3_X2",
      "shortDesc": "Barometer offset temperature ^2 polynomial coefficient",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B3_X3",
      "shortDesc": "Barometer offset temperature ^3 polynomial coefficient",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B3_X4",
      "shortDesc": "Barometer offset temperature ^4 polynomial coefficient",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_B3_X5",
      "shortDesc": "Barometer offset temperature ^5 polynomial coefficient",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Thermal Compensation",
      "name": "TC_B_ENABLE",
      "rebootRequired": true,
      "shortDesc": "Thermal compensation for barometric pressure sensors",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "System",
      "default": 0,
      "group": "Thermal Compensation",
      "name": "TC_G0_ID",
      "shortDesc": "ID of Gyro that the calibration is for",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": 100.0,
      "group": "Thermal Compensation",
      "name": "TC_G0_TMAX",
      "shortDesc": "Gyro calibration maximum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G0_TMIN",
      "shortDesc": "Gyro calibration minimum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 25.0,
      "group": "Thermal Compensation",
      "name": "TC_G0_TREF",
      "shortDesc": "Gyro calibration reference temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G0_X0_0",
      "shortDesc": "Gyro rate offset temperature ^0 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G0_X0_1",
      "shortDesc": "Gyro rate offset temperature ^0 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G0_X0_2",
      "shortDesc": "Gyro rate offset temperature ^0 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G0_X1_0",
      "shortDesc": "Gyro rate offset temperature ^1 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G0_X1_1",
      "shortDesc": "Gyro rate offset temperature ^1 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G0_X1_2",
      "shortDesc": "Gyro rate offset temperature ^1 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G0_X2_0",
      "shortDesc": "Gyro rate offset temperature ^2 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G0_X2_1",
      "shortDesc": "Gyro rate offset temperature ^2 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G0_X2_2",
      "shortDesc": "Gyro rate offset temperature ^2 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G0_X3_0",
      "shortDesc": "Gyro rate offset temperature ^3 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G0_X3_1",
      "shortDesc": "Gyro rate offset temperature ^3 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G0_X3_2",
      "shortDesc": "Gyro rate offset temperature ^3 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0,
      "group": "Thermal Compensation",
      "name": "TC_G1_ID",
      "shortDesc": "ID of Gyro that the calibration is for",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": 100.0,
      "group": "Thermal Compensation",
      "name": "TC_G1_TMAX",
      "shortDesc": "Gyro calibration maximum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G1_TMIN",
      "shortDesc": "Gyro calibration minimum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 25.0,
      "group": "Thermal Compensation",
      "name": "TC_G1_TREF",
      "shortDesc": "Gyro calibration reference temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G1_X0_0",
      "shortDesc": "Gyro rate offset temperature ^0 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G1_X0_1",
      "shortDesc": "Gyro rate offset temperature ^0 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G1_X0_2",
      "shortDesc": "Gyro rate offset temperature ^0 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G1_X1_0",
      "shortDesc": "Gyro rate offset temperature ^1 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G1_X1_1",
      "shortDesc": "Gyro rate offset temperature ^1 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G1_X1_2",
      "shortDesc": "Gyro rate offset temperature ^1 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G1_X2_0",
      "shortDesc": "Gyro rate offset temperature ^2 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G1_X2_1",
      "shortDesc": "Gyro rate offset temperature ^2 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G1_X2_2",
      "shortDesc": "Gyro rate offset temperature ^2 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G1_X3_0",
      "shortDesc": "Gyro rate offset temperature ^3 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G1_X3_1",
      "shortDesc": "Gyro rate offset temperature ^3 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G1_X3_2",
      "shortDesc": "Gyro rate offset temperature ^3 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0,
      "group": "Thermal Compensation",
      "name": "TC_G2_ID",
      "shortDesc": "ID of Gyro that the calibration is for",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": 100.0,
      "group": "Thermal Compensation",
      "name": "TC_G2_TMAX",
      "shortDesc": "Gyro calibration maximum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G2_TMIN",
      "shortDesc": "Gyro calibration minimum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 25.0,
      "group": "Thermal Compensation",
      "name": "TC_G2_TREF",
      "shortDesc": "Gyro calibration reference temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G2_X0_0",
      "shortDesc": "Gyro rate offset temperature ^0 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G2_X0_1",
      "shortDesc": "Gyro rate offset temperature ^0 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G2_X0_2",
      "shortDesc": "Gyro rate offset temperature ^0 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G2_X1_0",
      "shortDesc": "Gyro rate offset temperature ^1 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G2_X1_1",
      "shortDesc": "Gyro rate offset temperature ^1 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G2_X1_2",
      "shortDesc": "Gyro rate offset temperature ^1 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G2_X2_0",
      "shortDesc": "Gyro rate offset temperature ^2 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G2_X2_1",
      "shortDesc": "Gyro rate offset temperature ^2 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G2_X2_2",
      "shortDesc": "Gyro rate offset temperature ^2 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G2_X3_0",
      "shortDesc": "Gyro rate offset temperature ^3 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G2_X3_1",
      "shortDesc": "Gyro rate offset temperature ^3 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G2_X3_2",
      "shortDesc": "Gyro rate offset temperature ^3 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0,
      "group": "Thermal Compensation",
      "name": "TC_G3_ID",
      "shortDesc": "ID of Gyro that the calibration is for",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": 100.0,
      "group": "Thermal Compensation",
      "name": "TC_G3_TMAX",
      "shortDesc": "Gyro calibration maximum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G3_TMIN",
      "shortDesc": "Gyro calibration minimum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 25.0,
      "group": "Thermal Compensation",
      "name": "TC_G3_TREF",
      "shortDesc": "Gyro calibration reference temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G3_X0_0",
      "shortDesc": "Gyro rate offset temperature ^0 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G3_X0_1",
      "shortDesc": "Gyro rate offset temperature ^0 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G3_X0_2",
      "shortDesc": "Gyro rate offset temperature ^0 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G3_X1_0",
      "shortDesc": "Gyro rate offset temperature ^1 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G3_X1_1",
      "shortDesc": "Gyro rate offset temperature ^1 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G3_X1_2",
      "shortDesc": "Gyro rate offset temperature ^1 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G3_X2_0",
      "shortDesc": "Gyro rate offset temperature ^2 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G3_X2_1",
      "shortDesc": "Gyro rate offset temperature ^2 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G3_X2_2",
      "shortDesc": "Gyro rate offset temperature ^2 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G3_X3_0",
      "shortDesc": "Gyro rate offset temperature ^3 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G3_X3_1",
      "shortDesc": "Gyro rate offset temperature ^3 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_G3_X3_2",
      "shortDesc": "Gyro rate offset temperature ^3 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Thermal Compensation",
      "name": "TC_G_ENABLE",
      "rebootRequired": true,
      "shortDesc": "Thermal compensation for rate gyro sensors",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "System",
      "default": 0,
      "group": "Thermal Compensation",
      "name": "TC_M0_ID",
      "shortDesc": "ID of Magnetometer that the calibration is for",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": 100.0,
      "group": "Thermal Compensation",
      "name": "TC_M0_TMAX",
      "shortDesc": "Magnetometer calibration maximum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M0_TMIN",
      "shortDesc": "Magnetometer calibration minimum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 25.0,
      "group": "Thermal Compensation",
      "name": "TC_M0_TREF",
      "shortDesc": "Magnetometer calibration reference temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M0_X0_0",
      "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M0_X0_1",
      "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M0_X0_2",
      "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M0_X1_0",
      "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M0_X1_1",
      "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M0_X1_2",
      "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M0_X2_0",
      "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M0_X2_1",
      "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M0_X2_2",
      "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M0_X3_0",
      "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M0_X3_1",
      "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M0_X3_2",
      "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0,
      "group": "Thermal Compensation",
      "name": "TC_M1_ID",
      "shortDesc": "ID of Magnetometer that the calibration is for",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": 100.0,
      "group": "Thermal Compensation",
      "name": "TC_M1_TMAX",
      "shortDesc": "Magnetometer calibration maximum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M1_TMIN",
      "shortDesc": "Magnetometer calibration minimum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 25.0,
      "group": "Thermal Compensation",
      "name": "TC_M1_TREF",
      "shortDesc": "Magnetometer calibration reference temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M1_X0_0",
      "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M1_X0_1",
      "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M1_X0_2",
      "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M1_X1_0",
      "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M1_X1_1",
      "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M1_X1_2",
      "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M1_X2_0",
      "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M1_X2_1",
      "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M1_X2_2",
      "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M1_X3_0",
      "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M1_X3_1",
      "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M1_X3_2",
      "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0,
      "group": "Thermal Compensation",
      "name": "TC_M2_ID",
      "shortDesc": "ID of Magnetometer that the calibration is for",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": 100.0,
      "group": "Thermal Compensation",
      "name": "TC_M2_TMAX",
      "shortDesc": "Magnetometer calibration maximum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M2_TMIN",
      "shortDesc": "Magnetometer calibration minimum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 25.0,
      "group": "Thermal Compensation",
      "name": "TC_M2_TREF",
      "shortDesc": "Magnetometer calibration reference temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M2_X0_0",
      "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M2_X0_1",
      "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M2_X0_2",
      "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M2_X1_0",
      "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M2_X1_1",
      "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M2_X1_2",
      "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M2_X2_0",
      "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M2_X2_1",
      "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M2_X2_2",
      "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M2_X3_0",
      "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M2_X3_1",
      "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M2_X3_2",
      "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0,
      "group": "Thermal Compensation",
      "name": "TC_M3_ID",
      "shortDesc": "ID of Magnetometer that the calibration is for",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": 100.0,
      "group": "Thermal Compensation",
      "name": "TC_M3_TMAX",
      "shortDesc": "Magnetometer calibration maximum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M3_TMIN",
      "shortDesc": "Magnetometer calibration minimum temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 25.0,
      "group": "Thermal Compensation",
      "name": "TC_M3_TREF",
      "shortDesc": "Magnetometer calibration reference temperature",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M3_X0_0",
      "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M3_X0_1",
      "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M3_X0_2",
      "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M3_X1_0",
      "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M3_X1_1",
      "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M3_X1_2",
      "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M3_X2_0",
      "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M3_X2_1",
      "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M3_X2_2",
      "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M3_X3_0",
      "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - X axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M3_X3_1",
      "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Y axis",
      "type": "Float"
    },
    {
      "category": "System",
      "default": 0.0,
      "group": "Thermal Compensation",
      "name": "TC_M3_X3_2",
      "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Z axis",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Thermal Compensation",
      "name": "TC_M_ENABLE",
      "rebootRequired": true,
      "shortDesc": "Thermal compensation for magnetometer sensors",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "UUV Attitude Control",
      "name": "UUV_DIRCT_PITCH",
      "shortDesc": "Direct pitch input",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "UUV Attitude Control",
      "name": "UUV_DIRCT_ROLL",
      "shortDesc": "Direct roll input",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "UUV Attitude Control",
      "name": "UUV_DIRCT_THRUST",
      "shortDesc": "Direct thrust input",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0.0,
      "group": "UUV Attitude Control",
      "name": "UUV_DIRCT_YAW",
      "shortDesc": "Direct yaw input",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "UUV Attitude Control",
      "name": "UUV_INPUT_MODE",
      "shortDesc": "Select Input Mode",
      "type": "Int32",
      "values": [
        {
          "description": "use Attitude Setpoints",
          "value": 0
        },
        {
          "description": "Direct Feedthrough",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 2.0,
      "group": "UUV Attitude Control",
      "name": "UUV_PITCH_D",
      "shortDesc": "Pitch differential gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 4.0,
      "group": "UUV Attitude Control",
      "name": "UUV_PITCH_P",
      "shortDesc": "Pitch proportional gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 1.5,
      "group": "UUV Attitude Control",
      "name": "UUV_ROLL_D",
      "shortDesc": "Roll differential gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 4.0,
      "group": "UUV Attitude Control",
      "name": "UUV_ROLL_P",
      "shortDesc": "Roll proportional gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 2.0,
      "group": "UUV Attitude Control",
      "name": "UUV_YAW_D",
      "shortDesc": "Yaw differential gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 4.0,
      "group": "UUV Attitude Control",
      "name": "UUV_YAW_P",
      "shortDesc": "Yawh proportional gain",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0.2,
      "group": "UUV Position Control",
      "name": "UUV_GAIN_X_D",
      "shortDesc": "Gain of D controller X",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "UUV Position Control",
      "name": "UUV_GAIN_X_P",
      "shortDesc": "Gain of P controller X",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0.2,
      "group": "UUV Position Control",
      "name": "UUV_GAIN_Y_D",
      "shortDesc": "Gain of D controller Y",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "UUV Position Control",
      "name": "UUV_GAIN_Y_P",
      "shortDesc": "Gain of P controller Y",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 0.2,
      "group": "UUV Position Control",
      "name": "UUV_GAIN_Z_D",
      "shortDesc": "Gain of D controller Z",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 1.0,
      "group": "UUV Position Control",
      "name": "UUV_GAIN_Z_P",
      "shortDesc": "Gain of P controller Z",
      "type": "Float"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "UUV Position Control",
      "name": "UUV_STAB_MODE",
      "shortDesc": "Stabilization mode(1) or Position Control(0)",
      "type": "Int32",
      "values": [
        {
          "description": "Position Control",
          "value": 0
        },
        {
          "description": "Stabilization Mode",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 2130706433,
      "group": "UXRCE-DDS Client",
      "longDesc": "If ethernet enabled and selected as configuration for uXRCE-DDS, selected Agent IP address will be set and used. Decimal dot notation is not supported. IP address must be provided in int32 format. For example, 192.168.1.2 is mapped to -1062731518; 127.0.0.1 is mapped to 2130706433.",
      "name": "UXRCE_DDS_AG_IP",
      "rebootRequired": true,
      "shortDesc": "uXRCE-DDS Agent IP address",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": 0,
      "group": "UXRCE-DDS Client",
      "longDesc": "uXRCE-DDS domain ID",
      "name": "UXRCE_DDS_DOM_ID",
      "rebootRequired": true,
      "shortDesc": "uXRCE-DDS domain ID",
      "type": "Int32"
    },
    {
      "category": "System",
      "default": 1,
      "group": "UXRCE-DDS Client",
      "longDesc": "uXRCE-DDS key, must be different from zero. In a single agent - multi client configuration, each client must have a unique session key.",
      "name": "UXRCE_DDS_KEY",
      "rebootRequired": true,
      "shortDesc": "uXRCE-DDS Session key",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "default": 8888,
      "group": "UXRCE-DDS Client",
      "longDesc": "If ethernet enabled and selected as configuration for uXRCE-DDS, selected udp port will be set and used.",
      "max": 65535,
      "min": 0,
      "name": "UXRCE_DDS_PRT",
      "rebootRequired": true,
      "shortDesc": "uXRCE-DDS UDP Port",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 8.0,
      "group": "VTOL Attitude Control",
      "increment": 1.0,
      "longDesc": "Airspeed at which we can start blending both fw and mc controls. Set to 0 to disable.",
      "max": 30.0,
      "min": 0.0,
      "name": "VT_ARSP_BLEND",
      "shortDesc": "Transition blending airspeed",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 10.0,
      "group": "VTOL Attitude Control",
      "increment": 1.0,
      "longDesc": "Airspeed at which we can switch to fw mode",
      "max": 30.0,
      "min": 0.0,
      "name": "VT_ARSP_TRANS",
      "shortDesc": "Transition airspeed",
      "type": "Float",
      "units": "m/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "VTOL Attitude Control",
      "increment": 0.01,
      "max": 0.2,
      "min": 0.0,
      "name": "VT_B_DEC_FF",
      "shortDesc": "Backtransition deceleration setpoint to pitch feedforward gain",
      "type": "Float",
      "units": "rad s^2/m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.1,
      "group": "VTOL Attitude Control",
      "increment": 0.05,
      "max": 0.3,
      "min": 0.0,
      "name": "VT_B_DEC_I",
      "shortDesc": "Backtransition deceleration setpoint to pitch I gain",
      "type": "Float",
      "units": "rad s/m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 2.0,
      "group": "VTOL Attitude Control",
      "increment": 0.1,
      "longDesc": "The approximate deceleration during a back transition in m/s/s Used to calculate back transition distance in an auto mode. For standard vtol and tiltrotors a controller is used to track this value during the transition.",
      "max": 10.0,
      "min": 0.5,
      "name": "VT_B_DEC_MSS",
      "shortDesc": "Approximate deceleration during back transition",
      "type": "Float",
      "units": "m/s^2"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 10.0,
      "group": "VTOL Attitude Control",
      "increment": 1.0,
      "longDesc": "Time in seconds used for a back transition maximally. Transition is also declared over if the groundspeed drops below MPC_XY_CRUISE.",
      "max": 20.0,
      "min": 0.1,
      "name": "VT_B_TRANS_DUR",
      "shortDesc": "Maximum duration of a back transition",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 3.0,
      "group": "VTOL Attitude Control",
      "increment": 0.1,
      "longDesc": "This sets the duration during which the MC motors ramp up to the commanded thrust during the back transition stage.",
      "max": 20.0,
      "min": 0.0,
      "name": "VT_B_TRANS_RAMP",
      "shortDesc": "Back transition MC motor ramp up time",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 1,
      "group": "VTOL Attitude Control",
      "longDesc": "If set to 1 the control surfaces are locked at the disarmed value in multicopter mode.",
      "name": "VT_ELEV_MC_LOCK",
      "shortDesc": "Lock control surfaces in hover",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled",
          "value": 1
        }
      ]
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "VTOL Attitude Control",
      "longDesc": "This feature can be used to avoid the plane having to pitch nose down in order to move forward. Prevents large, negative lift from pitching nose down into wind. Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL). Only active if demanded down pitch is below VT_PITCH_MIN. Use VT_FWD_THRUST_SC to tune it. Only active (if enabled) in Altitude, Position and Auto modes, not in Stabilized.",
      "name": "VT_FWD_THRUST_EN",
      "shortDesc": "Use fixed-wing actuation in hover to accelerate forward",
      "type": "Int32",
      "values": [
        {
          "description": "Disabled",
          "value": 0
        },
        {
          "description": "Enabled (except LANDING)",
          "value": 1
        },
        {
          "description": "Enabled if distance to ground above MPC_LAND_ALT1",
          "value": 2
        },
        {
          "description": "Enabled if distance to ground above MPC_LAND_ALT2",
          "value": 3
        },
        {
          "description": "Enabled constantly",
          "value": 4
        },
        {
          "description": "Enabled if distance to ground above MPC_LAND_ALT1 (except LANDING)",
          "value": 5
        },
        {
          "description": "Enabled if distance to ground above MPC_LAND_ALT2 (except LANDING)",
          "value": 6
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.7,
      "group": "VTOL Attitude Control",
      "increment": 0.01,
      "longDesc": "Scale applied to the demanded down-pitch to get the fixed-wing forward actuation in hover mode. Enabled via VT_FWD_THRUST_EN.",
      "max": 2.0,
      "min": 0.0,
      "name": "VT_FWD_THRUST_SC",
      "shortDesc": "Fixed-wing actuation thrust scale for hover forward flight",
      "type": "Float"
    },
    {
      "bitmask": [
        {
          "description": "Yaw",
          "index": 0
        },
        {
          "description": "Roll",
          "index": 1
        },
        {
          "description": "Pitch",
          "index": 2
        }
      ],
      "category": "Standard",
      "default": 0,
      "group": "VTOL Attitude Control",
      "longDesc": "Enable differential thrust seperately for roll, pitch, yaw in forward (fixed-wing) mode. The effectiveness of differential thrust around the corresponding axis can be tuned by setting VT_FW_DIFTHR_S_R / VT_FW_DIFTHR_S_P / VT_FW_DIFTHR_S_Y.",
      "max": 7,
      "min": 0,
      "name": "VT_FW_DIFTHR_EN",
      "shortDesc": "Differential thrust in forwards flight",
      "type": "Int32"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 1.0,
      "group": "VTOL Attitude Control",
      "increment": 0.1,
      "longDesc": "Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.",
      "max": 2.0,
      "min": 0.0,
      "name": "VT_FW_DIFTHR_S_P",
      "shortDesc": "Pitch differential thrust factor in forward flight",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 1.0,
      "group": "VTOL Attitude Control",
      "increment": 0.1,
      "longDesc": "Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.",
      "max": 2.0,
      "min": 0.0,
      "name": "VT_FW_DIFTHR_S_R",
      "shortDesc": "Roll differential thrust factor in forward flight",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.1,
      "group": "VTOL Attitude Control",
      "increment": 0.1,
      "longDesc": "Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.",
      "max": 2.0,
      "min": 0.0,
      "name": "VT_FW_DIFTHR_S_Y",
      "shortDesc": "Yaw differential thrust factor in forward flight",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.0,
      "group": "VTOL Attitude Control",
      "increment": 1.0,
      "longDesc": "Minimum altitude for fixed-wing flight. When the vehicle is in fixed-wing mode and the altitude drops below this altitude (relative altitude above local origin), it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT.",
      "max": 200.0,
      "min": 0.0,
      "name": "VT_FW_MIN_ALT",
      "shortDesc": "Quad-chute altitude",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "VTOL Attitude Control",
      "increment": 1,
      "longDesc": "Maximum height above the ground (if available, otherwise above Home if available, otherwise above the local origin) where triggering a quad-chute is possible. At high altitudes there is a big risk to deplete the battery and therefore crash if quad-chuting there.",
      "min": 0,
      "name": "VT_FW_QC_HMAX",
      "shortDesc": "Quad-chute maximum height",
      "type": "Int32",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "VTOL Attitude Control",
      "longDesc": "Absolute pitch threshold for quad-chute triggering in FW mode. Above this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT. Set to 0 do disable this threshold.",
      "max": 180,
      "min": 0,
      "name": "VT_FW_QC_P",
      "shortDesc": "Quad-chute max pitch threshold",
      "type": "Int32",
      "units": "deg"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "VTOL Attitude Control",
      "longDesc": "Absolute roll threshold for quad-chute triggering in FW mode. Above this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT. Set to 0 do disable this threshold.",
      "max": 180,
      "min": 0,
      "name": "VT_FW_QC_R",
      "shortDesc": "Quad-chute max roll threshold",
      "type": "Int32",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 5.0,
      "group": "VTOL Attitude Control",
      "increment": 1.0,
      "longDesc": "Time in seconds used for a transition",
      "max": 20.0,
      "min": 0.1,
      "name": "VT_F_TRANS_DUR",
      "shortDesc": "Duration of a front transition",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "VTOL Attitude Control",
      "increment": 0.01,
      "longDesc": "standard vtol: pusher tailsitter, tiltrotor: main throttle",
      "max": 1.0,
      "min": 0.0,
      "name": "VT_F_TRANS_THR",
      "shortDesc": "Target throttle value for the transition to fixed-wing flight",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 6.0,
      "group": "VTOL Attitude Control",
      "increment": 0.5,
      "longDesc": "The duration of the front transition when there is no airspeed feedback available.",
      "max": 30.0,
      "min": 1.0,
      "name": "VT_F_TR_OL_TM",
      "shortDesc": "Airspeed-less front transition time (open loop)",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": -5.0,
      "group": "VTOL Attitude Control",
      "increment": 0.1,
      "longDesc": "Overrides VT_PITCH_MIN when the vehicle is in LAND mode (hovering). During landing it can be beneficial to allow lower minimum pitch angles as it can avoid the wings generating too much lift and preventing the vehicle from sinking at the desired rate.",
      "max": 45.0,
      "min": -10.0,
      "name": "VT_LND_PITCH_MIN",
      "shortDesc": "Minimum pitch angle during hover landing",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": -5.0,
      "group": "VTOL Attitude Control",
      "increment": 0.1,
      "longDesc": "Minimum pitch angle during hover flight. If the desired pitch angle is is lower than this value then the fixed-wing forward actuation can be used to compensate for the missing thrust in forward direction (see VT_FW_TRHUST_EN)",
      "max": 45.0,
      "min": -10.0,
      "name": "VT_PITCH_MIN",
      "shortDesc": "Minimum pitch angle during hover",
      "type": "Float",
      "units": "deg"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.33,
      "group": "VTOL Attitude Control",
      "increment": 0.01,
      "longDesc": "Defines the slew rate of the puller/pusher throttle during transitions. Zero will deactivate the slew rate limiting and thus produce an instant throttle rise to the transition throttle VT_F_TRANS_THR.",
      "min": 0.0,
      "name": "VT_PSHER_SLEW",
      "shortDesc": "Pusher throttle ramp up slew rate",
      "type": "Float",
      "units": "1/s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.0,
      "group": "VTOL Attitude Control",
      "increment": 1.0,
      "longDesc": "Altitude error threshold for quad-chute triggering during fixed-wing flight. The check is only active if altitude is controlled and the vehicle is below the current altitude reference. The altitude error is relative to the highest altitude the vehicle has achieved since it has flown below the current altitude reference. Set to 0 do disable.",
      "max": 200.0,
      "min": 0.0,
      "name": "VT_QC_ALT_LOSS",
      "shortDesc": "Quad-chute uncommanded descent threshold",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 20.0,
      "group": "VTOL Attitude Control",
      "increment": 1.0,
      "longDesc": "Altitude loss threshold for quad-chute triggering during VTOL transition to fixed-wing flight. Active until 5s after completing transition to fixed-wing. Only active if altitude estimate is valid and in altitude-controlled mode. If the current altitude is more than this value below the altitude at the beginning of the transition, it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT. Set to 0 do disable this threshold.",
      "max": 50.0,
      "min": 0.0,
      "name": "VT_QC_T_ALT_LOSS",
      "shortDesc": "Quad-chute transition altitude loss threshold",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 0.0,
      "group": "VTOL Attitude Control",
      "increment": 0.1,
      "max": 1.0,
      "min": -1.0,
      "name": "VT_SPOILER_MC_LD",
      "shortDesc": "Spoiler setting while landing (hover)",
      "type": "Float",
      "units": "norm"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "VTOL Attitude Control",
      "increment": 0.01,
      "max": 1.0,
      "min": 0.0,
      "name": "VT_TILT_FW",
      "shortDesc": "Normalized tilt in FW",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.0,
      "group": "VTOL Attitude Control",
      "increment": 0.01,
      "max": 1.0,
      "min": 0.0,
      "name": "VT_TILT_MC",
      "shortDesc": "Normalized tilt in Hover",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 0.0,
      "group": "VTOL Attitude Control",
      "increment": 0.01,
      "longDesc": "This specific tilt during spin-up is necessary for some systems whose motors otherwise don't spin-up freely.",
      "max": 1.0,
      "min": 0.0,
      "name": "VT_TILT_SPINUP",
      "shortDesc": "Tilt when disarmed and in the first second after arming",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.4,
      "group": "VTOL Attitude Control",
      "increment": 0.01,
      "max": 1.0,
      "min": 0.0,
      "name": "VT_TILT_TRANS",
      "shortDesc": "Normalized tilt in transition to FW",
      "type": "Float"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 2.0,
      "group": "VTOL Attitude Control",
      "increment": 0.1,
      "longDesc": "Minimum time in seconds for front transition.",
      "max": 20.0,
      "min": 0.0,
      "name": "VT_TRANS_MIN_TM",
      "shortDesc": "Front transition minimum time",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 0.5,
      "group": "VTOL Attitude Control",
      "increment": 0.01,
      "longDesc": "Time in seconds it takes to tilt form VT_TILT_TRANS to VT_TILT_FW.",
      "max": 5.0,
      "min": 0.1,
      "name": "VT_TRANS_P2_DUR",
      "shortDesc": "Duration of front transition phase 2",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "decimalPlaces": 2,
      "default": 15.0,
      "group": "VTOL Attitude Control",
      "increment": 1.0,
      "longDesc": "Time in seconds after which transition will be cancelled. Disabled if set to 0.",
      "max": 30.0,
      "min": 0.1,
      "name": "VT_TRANS_TIMEOUT",
      "shortDesc": "Front transition timeout",
      "type": "Float",
      "units": "s"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "VTOL Attitude Control",
      "max": 2,
      "min": 0,
      "name": "VT_TYPE",
      "rebootRequired": true,
      "shortDesc": "VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)",
      "type": "Int32",
      "values": [
        {
          "description": "Tailsitter",
          "value": 0
        },
        {
          "description": "Tiltrotor",
          "value": 1
        },
        {
          "description": "Standard",
          "value": 2
        }
      ]
    },
    {
      "category": "Standard",
      "decimalPlaces": 3,
      "default": 1.0,
      "group": "VTOL Attitude Control",
      "increment": 0.01,
      "longDesc": "The desired gain to convert roll sp into yaw rate sp.",
      "max": 3.0,
      "min": 0.0,
      "name": "WV_GAIN",
      "shortDesc": "Weather-vane roll angle to yawrate",
      "type": "Float",
      "units": "Hz"
    },
    {
      "category": "Standard",
      "decimalPlaces": 1,
      "default": 80.0,
      "group": "VTOL Takeoff",
      "increment": 1.0,
      "longDesc": "Altitude relative to home at which vehicle will loiter after front transition.",
      "max": 300.0,
      "min": 20.0,
      "name": "VTO_LOITER_ALT",
      "shortDesc": "VTOL Takeoff relative loiter altitude",
      "type": "Float",
      "units": "m"
    },
    {
      "category": "Standard",
      "default": 0,
      "group": "Miscellaneous",
      "name": "UUV_SKIP_CTRL",
      "shortDesc": "Skip the controller",
      "type": "Int32",
      "values": [
        {
          "description": "use the module's controller",
          "value": 0
        },
        {
          "description": "skip the controller and feedthrough the setpoints",
          "value": 1
        }
      ]
    }
  ],
  "translation": {
    "items": {
      "parameters": {
        "list": {
          "items": {
            "bitmask": {
              "list": {
                "key": "index",
                "translate": [
                  "description"
                ]
              }
            },
            "values": {
              "list": {
                "key": "value",
                "translate": [
                  "description"
                ]
              }
            }
          },
          "key": "name",
          "translate": [
            "shortDesc",
            "longDesc"
          ],
          "translate-global": [
            "category",
            "group"
          ]
        }
      }
    }
  },
  "version": 1
}